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DELTA_IA-ASD_ASDA-Soft_UM_EN_20140710 Important Notice Different device has different features and operational ways Technical personnel who is in charge of operating the software shall implement appropriate measures and follow the instructions of the user guide Delta will not take responsibility for the results of unauthorized modifications of this product Delta shall not be liable for any damages or troubles resulting from unauthorized modification The drawings presented in this user guide are typical examples and are only used for functional description However, there must have different demands and variations in practical operation and settings It is not suggested to any practical application and operation in accordance with the examples in the user guide Delta will not take responsibility for it No patent liability is assumed with respect to the use of the information contained herein No part of this work may be reproduced in any form (by photocopying, microfilmor any other method) without the written permission of Delta Technical changes which improve the performance of the device may be made Delta has the right to change the definition and contents of this user guide ASDA-Soft User Manual Safety Precautions [Important Messages] Before installing the software, please read through this manual carefully in order to ensure the correct use of the product [Notice] Pay special attention to the following safety precautions anytime during inspection, installation, wiring, operation and examination The symbol of danger, warning and stop represent: It indicates the potential hazards It is possible to cause severe injury or fatal harm if not follow the instructions It indicates the potential hazards It is possible to cause minor injury or lead to serious damage of the product or even malfunction if not follow the instructions It indicates the absolute prohibited activity It is possible to damage the product or cannot be used due to malfunction if not follow the instructions Inspection Please follow the instruction when using servo drive and servo motor, or it is possible to cause fire or malfunction Installation When servo motor and servo drive are working, it is prohibited to connect the communication cable of software to the servo drive It might danger the personnel safety Conduct the software communication setting when servo motor and servo drive stops operation for avoiding the malfunction Wiring July 2014 Power on the servo drive first Then, connect the communication cable to the servo drive This is for avoiding the malfunction of the motor Please use standard wires and shielded-pair wires for communication cable for avoiding signal interference The maximum length of software communication cable is 1.5 meters (= 4.92 feet) Otherwise, it might attenuate the signal Please connect wiring according to the wire rod in order to prevent any danger ASDA-Soft User Manual Operation Before the operation, please change the parameter setting value according to the needs If it is not adjusted to the correct setting value, it is possible to lead to malfunction of the machine or the operation might out of control Before the machine starts to operate, please be ensured the emergency stop can be activated anytime When applying monitor function of “Scope” and “System Analysis”, please make sure the communication cable is correctly connected Any loose or fall off might influence the monitoring data When applying function of “Auto Gain Tuning”, not touch the motor shaft by hand or any hard object It is strongly recommended that during operation, not remove the communication cable It would cause the damage of the equipments and lead to the personnel injury In order to prevent any accident, please make sure all parameter, monitor and tuning function is set to the correct status before trial operation When adjusting or testing the servo motor and servo drive by triggering function of the software, make sure the technician has to be presence If not, make sure all triggering function is stopped to avoid any danger it might occur July 2014 ASDA-Soft User Manual Preface [About this Manual] ASDA-Soft (servo software) introduced in this manual uses version V4.08 as the examples to describe the functional settings, including: Interface Operation Scope System Analysis Motion Control Alarm Messages NOTE Please refer to ASDA series user manual for detailed description of parameters Please refer to ASDA series user manual for detailed description of system framework and motion control mode Please download the user manual at Delta’s website [Personnel] This book is for personnel who have already purchased ASDA series servo drive or engineers and technicians who use ASDA series servo drive to configure the product In addition, in-site maintenance and inspection personnel can refer this manual to troubleshoot the problems If you have any enquiry, please contact the distributors or DELTA customer service center [Safety Precautions] Safety precautions and the operating procedures are included in each chapter of this manual July 2014 ASDA-Soft User Manual (This page is intentionally left blank.) July 2014 Table of Contents Chapter Environment and Software Installation 1-1 1.1 Software Installation 1-4 1.2 Wiring Configuration 1-11 1.3 Software Screen Description 1-13 Chapter Basic Operation 2-1 2.1 File 2-2 2.2 Setting 2-3 2.3 Language 2-7 2.4 Status Monitor 2-8 2.5 Window 2-12 2.6 Help 2-14 Chapter Advanced Operation 3-1 3.1 Scope 3-2 Interface Introduction 3-3 Operation 3-18 Spectrum Analysis (FFT) 3-28 3.2 Auto Gain Tuning 3-33 Interface Introduction 3-34 Description of Tuning 3-39 3.3 July 2014 Digital IO / JOG Control 3-44 v ASDA-Soft User Manual Table of Contents Setting of Digital Input / Output 3-45 JOG 3-48 3.4 System Analysis 3-49 Interface Introduction 3-50 Operation Description 3-57 3.5 Alarm Information 3-63 Basic Operation 3-63 Current Alarm 3-64 Alarm History 3-66 3.6 Parameter Editor 3-67 Interface Introduction 3-68 Parameter Configuration 3-81 3.7 Parameter Initial Wizard 3-87 Interface Introduction 3-89 Mode Setting 3-92 Chapter Motion Control 4-1 4.1 E-Cam 4-2 Interface Introduction 4-3 E-Cam Table Creation 4-4 4.2 PR Mode Setting 4-62 Interface Introduction 4-64 Mode Setting 4-72 Example 4-101 4.3 vi Capture (CAP) / Compare (CMP) .4-104 July 2014 Table of Contents ASDA-Soft User Manual Interface Introduction 4-109 Functions 4-111 Data Array Editor 4-127 Example 4-133 July 2014 vii ASDA-Soft User Manual viii Table of Contents July 2014 ASDA-Soft User Guide Chapter Description of Motion Control In addition, click can write the status into the servo drive If users desire to keep the setting of data array in servo drive after power off, please click to burn data array into EEPROM This function is similar to which mentioned before [3] Editor that can modify the content of data array Three ways are provided for users to quickly edit the value of data array: Move Assume that setting value in position [000] to [005] of data array is as the following: If users want to move down the block of data array for one field, please select “Move” Then, set up the start position 0[000] and end position 5[005] And set as offset amount To move down one field, please click when the setting is complete Then, position to is moved down for a field in the data array table And the original position [000] is replaced by a new value, 0000000000 4-130 July 2014 Chapter Description of Motion Control ASDA-Soft User Guide New value Move down the group Copy Assume the setting value of position [000] to position [005] in data array is as below: If users desire to copy position [010] ~ [015], please select “Copy” first Setup the copy source: from position 0[000] ~ 5[005] Then, setup the target position, 10[010] ~ 15[015] Click to complete the setting You can see position to has been copied to position 10 to 15 July 2014 4-131 ASDA-Soft User Guide Chapter Description of Motion Control Position to Copy to position 10 to 15 Swap In data array, the setting value of position [000] to [005] and position [010] to [015] are showed as below: If users desire to swap these two blocks of data array, please select “Swap” first Set up the swap source, position 0[000] ~ 5[005] 4-132 July 2014 Chapter Description of Motion Control ASDA-Soft User Guide Then, set up the target position of swap, position 10[010] ~ 15[015] Click to complete the setting Value in position to is swapped to position 10 and 15 Click to download the modified data array into the servo drive Users can also click data array from servo drive, click to burn data into EEPROM To access the to upload it to the software Example From the example below, users can try to setup CMP function via the software and aim at the application of masking and mark reading to complete the setting of mark alignment Please refer to ASDA-A2 application note for further information July 2014 4-133 ASDA-Soft User Guide Chapter Description of Motion Control Example of CMP function: It sends one signal every half turns Description: When the compare axis is the main encoder, the Compare function will refer to the pulse resolution set by P1-46, but not P1-44 and P1-45 It must set P1-46 = 25000 pulses in this example, which means when motor runs a cycle, P5-57 can read 25000x4 = 100000 pulses Fill in 50000 and 100000 into the data array starting from position 50 The Compare function outputs DO4 every time when motor runs half cycle (when the counting pulse is 50000) and one cycle (when the counting pulse is 100000) Enable Bit1 of P5-59.X When CMP is complete, P5-58 returns to the initial value The system will repeat the CMP function Enable Bit3 of P5-59.X When CMP is complete, P5-57 = The system will start another CMP cycle P5-59.X = 0x000A → 0x003B, the second digit is from → The system will copy the current position of the main encoder to P5-57 and enable CMP function Therefore, the system has to the homing before enabling CMP function If the position of main encoder is larger than the value in data array, which means P5-57 > 100000, then there will has no output for CMP function Setting steps: Step 1: Make sure the control mode must set to PR mode Use Wizard to select Parameter Initial Then, setup digital input (DI) Select homing, PR command trigger and internal PR command (since servo drive needs to specify the start PR): Please refer to 4-134 July 2014 Chapter Description of Motion Control ASDA-Soft User Guide the setting below: The next step is to adjust the pulse number of motor encoder Step 2: In 25,000 , please set the P1-46 (pulse number of motor encoder) to Step 3: Write the setting value into the servo drive Please click A message window will pop Step 4: Re-power on the servo drive and complete the setting of mode and parameters Step 5: Click for PR mode setting so as to setup sets of PR path Please select position PR#30 in the left July 2014 4-135 ASDA-Soft User Guide Chapter Description of Motion Control Select PR#30 in the left Step 6: Setup PR#30, 31, 32 and 33 in sequence PR#30: Set P5-59 to 0x00 64 00 A 64: Length of output pulse: 100ms (Convert the format to hexadecimal, so the value is 64l.) 0: Set the source axis as CAP axis A: Set Bit1 and Bit of P5-59.X to The CMP function will repeat Every time when it compares to the last point, the counter will clear to 4-136 July 2014 Chapter Description of Motion Control ASDA-Soft User Guide PR#31: Set P5-58 to and to setup the compared amount of data array PR#32: Set P5-59 to 0x00 64 00 B 64: Length of output pulse: 100ms (Convert the format to hexadecimal, so the value is 64.) 3: Set the source axis as main encoder (motor encoder) B: Set Bit0, Bit1 and Bit of P5-59.X to Enable and repeat CMP function Every time when it compares to the last point, the count will clear to July 2014 4-137 ASDA-Soft User Guide Chapter Description of Motion Control PR#33: Setup “Constant Speed Control” The target speed is 200 r/min For the setting of PR#31 and PR#32 that mentioned before, P5-59.X = 0x000A 0x003B The second digit is At the moment, the system will copy the current position of the main encoder into P5-57 and enable CMP function The system needs to homing before enabling CMP function Therefore, the system has to the homing before enabling CMP function If the position of main encoder is larger than the value in data array, which means P5-57 > 100000, then there will has no output for CMP function Step 7: Refer to the diagram below to setup homing mode 4-138 July 2014 Chapter Description of Motion Control Step 8: Click ASDA-Soft User Guide to write all into the servo drive and complete the setting of PR mode Step 9: Set up the compared value of data array Enable CAP/CMP function Click to read parameters from servo drive Since we haven’t executed PR, to setup the value of P5-58 (Compared amount) first so can fill in the value into compared data array Change fields: to Click , Data array will be changed into Left click the mouse on [050] and [051] and change the value to 50,000 and 100,000, respectively When the setting is complete, click to write new value into data array Then, the window will display Step 10: Use July 2014 (Digital IO) and below (Software Scope) to monitor the output of DO4 4-139 ASDA-Soft User Guide Click Chapter Description of Motion Control : DI setting and control DO4 becomes the output for high-speed compare and no longer display the current output command Step 11: Use DI to control the operation steps Select DI1 ~ DI3 to control SON (servo on), SHOM (search homing) and CTRG (PR command trigger) first Step 12: Select DI1 to enable DI1 as NC (frequently close contact) and servo on Step 13: Select DI2 to enable DI2 as NC (frequently close contact) and start to search homing origin Then, click again to change DI2 to NO (frequently open contact), since we only need to trigger it once Step 14: When homing is complete, select DI3 close contact) and trigger PR#30 Then, click open contact), since we only need to trigger it once to enable DI3 as NC (frequently to change DI3 to NO (frequently Step 15: Check if DO4 is glittering If the answer is yes, it means it is working and CMP function is executing Function of DO4 has been changed When compare does output, the light is ON When compare does not output, the light is off 4-140 July 2014 Chapter Description of Motion Control ASDA-Soft User Guide Step 16: Make sure DO4 does output Then, use scope to confirm that DO4 outputs every half turns The setting of scope is shown as below: select Channel and to monitor Channel 1: Set as accessing feedback position (PUU) Since the unit of PUU is 32-bit, please check Set as accessing feedback position Channel 2: Set as accessing DO status Set as accessing DO status In addition, since the unit of feedback position and DO status is different, please use individual coordinate July 2014 4-141 ASDA-Soft User Guide Chapter Description of Motion Control Step 17: It is suggested to enable (digital IO) and (software scope) to operate Use DI to execute homing and trigger PR command Then, use scope to monitor the curve simultaneously Step 18: Take one part of Bold Plot to observe We can see the triggered cycle of DO4 is 50,131PUU, which is close to 50,000PUU set by us The length of input length is also close to 100ms of P5-59 CBA 4-142 July 2014 Chapter Description of Motion Control July 2014 ASDA-Soft User Guide 4-143 ASDA-Soft User Guide Chapter Description of Motion Control (This page is intentionally left blank.) 4-144 July 2014 ... different version of ASDA- Soft to operate ASDA servo drive This might cause ASDA- Soft operation abnormalities 1-2 July 2014 Chapter Environment and Software Installation ASDA- Soft User Guide If figures... is for Delta’s ASDA series servo drive only Other brands of servo drive will not be applicable The corresponding servo drives are: ASDA- A2 / ASDA- B2 / ASDA- A / ASDA- A+ / ASDA- AB / ASDA- B NOTE Servo... the latest ASDA- Soft on Delta’s website, please take the one from the website as the final version July 2014 1-3 ASDA- Soft User Guide 1.1 Chapter Environment and Software Installation Software