Software Operational Manual for ACS806
Contents
1. Ke 3000 Kt 200 14 Software Operational Manual for ACS806 T Integral Gain Kp 21000 Ki 400 Kp 121000 Kt 400 Step 5 The current loop tuning is basically finished You can continue to adjust Kp and Ki for better performance Now the updated Kp and Ki is just stored in the driver s RAM They will be lost when we power off the driver Don t forget to click Drive gt Download To Drive to store the changed value to the drive s nonvolatile EEPROM N You can reduce the Kp if the motor s noise can not be accepted for the application Current Loop Final Result Kp 19000 Ki 600 Kp 19000 Be B00 test 1 start Connect to Drive Current Loop l l Save all the changes to the drive s Configurations non violated nonvolatile memory Download to Drive Reset 15 7 Leadshine Tuning the Position Loop Parameters Software Operational Manual for ACS806 Click Drive gt Configurations to open the tuning window The following example demonstrates the tuning of the position loop base on a 400W servo motor with 24VDC input N The motor should be installed to the machine and connected to load before the position loop tuning AN Otherwise please reduce the distance setting in the pulse generator Move the load to the middle of the axis and make sure 40000 Encoder Resolution turns of motor shaft will not hit anything Before tuning the position loop parameters set pulse gen2. Software Operational Manual for ACS806 www leadshine com SM ACS amp 06 R20111215 SM ACS806 R20111215 il Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2011 by Leadshine Technology All Rights Reserved Change Log Revision Date Changes Version 2011 12 15 Original Create SM ACS806 R20111215 iii Table of Contents Titroc Oe oio sea tekusndasacieteu aloes ed sce tietueastasettesesbectionasnsecintestiennea saute ote A ot onde caters l IW OLS DAC E E EE E E hee E E E EEE EEE een EEE E A l Menus did Too e keane a a b db toire tata l US ee SON TT 3 CAT Oe MG s E E T a E E OE 3 PAW Ct ING A ET T E 3 S a e ste aries tn acter oes 3 OS TTT 3 Contnccimrs Tce cea na ete EE EE EE E E caeuneneee 3 Curr
3. ls 4 T Proportional Gain Kp 2000 Ki 0 Set e be ee Scope Settings ur Velocity m Current m Position Error Trace Time 1 28 Internal Fuse Generator Settings Velocity rpm 1200 Interval ms 100 Distance p 0000 Acceleration r s 21 200 Repeat Times 1 stat 7 oston Loop Parameters Electrical Gear Kp 2000 Ei fp Kd 7000 Mumerator 1 Denominator 1 Conti gurati ons G Current U mA Velocih 825 rpm Postion Enor 66 p Eror 66 jp Trace Time 892 ms oo Position Error 66 T Proportional Gain T Kp 3000 Ki 0 a HI l Scope Settings ur Velocity m Current m Position Error Trace Time 1 28 Internal Fuse Generator Settings Velocity rpm 1200 Interval ms 100 Distance p 80000 Acceleration r s 2 200 Repeat Times 1 stat asition Loop Parameters Electrical Gear Kp 3000 K I Kd 2000 N Umer alor Denominator n 19 7 Leadshine Software Operational Manual for ACS806 Conti gur ations G Current U m pu 713 rpm Position Error 50 pj Trace Time 77 ms Position Error 50 T Proportional Gain T Kp 4000 Ki 0 AA Scope Settings ur Velocity m Current m Position Error Trace Time 1 28 Internal Fuse Generator Settings Velocity rpm 1200 Interval ms 100 Distance p 80000 Acceleration r s 2 200 Repeat Times 1 stat Position Loop Parameters Electrical Gear Kp 4000 K I Ed 4000 N Umer alor 1 Denominator 1 Conti gurati ons
4. G Current U mA Velocity 64 rpm Ss Error 41 celal L Trace Time 79 rms Position Error 41 a ie Wal t Kp 5000 Ki U Scope Settings ar Velocity m Current l Position Error Trace Time 1 28 Internal Fuze Generator Settings Velocity rpm 1200 Interval m 100 Distance p 80000 Acceleration rs 2 200 Repeat Times 1 Stan Position Loop Parameters Electrical Gear Kp 5000 Ki 10 Ed 5000 Numerator 1 Denominator 1 20 A Leadshine Software Operational Manual for ACS806 Conti gurati ons G Current 0 m Velocity S77 rpm Position Error 34 p Trace Time 93 ms Position Error 34 t Proportional Gain t Kp 6000 Ki 0 T Kd 6000 Scope Settings ic Velocity in Current ic Position Error Trace Time 1 28 Internal Fuse Generator Settings Velocity rpm 1200 Interval m 100 Distance p Eir Acceleration r s 21 200 Repeat Times 1 Stat 7 Positian Loop Parameters Electrical Gear Kp 6000 E b Ed zm N Umer alor Denominator 1 Now the system has been basically tuned You can continue to increase the Kp and Kd but the motor noise will also be increased too We stop here in this example In the following step we give small Ki to Zero the position error at constant velocity The velocity curve is straight However big noise may be introduced if Ki is too big Step 4 Set Ki 200 and the position error at constant speed becomes near 0 Remember that tuning the
5. Save to save data of the current workspace to the file opened If there is no a file opened the Save dialog box appears and you can type in the file name Save as a file Click Drive gt Save As to save the data in current workspace to a file and rename it Close Click Drive gt Close to close the current file Connecting Drive Connect to Drive Please select the night serial part to connect the drive to your computer Choose Serial Port Cancel Connect to Drive window appears at start up You can open it by clicking Drive gt Connect To Drive any time Select the right serial port and click on the Open button The software will try to connect to the drive and read the settings It may take several minutes Please wait Before clicking on the Open button please make sure 1 The RS232 cable has been connected between the drive and the PC s serial port 2 The drive has been powered on and the green LED is on The motor is unnecessary connecting to the drive if you just want to change the parameters but not tuning Do not connect or disconnect serial cable when the drive is powered on The drive s communication circuit may be e Caution damaged e Leadshine Software Operational Manual for ACS806 Current Loop Tuning Window Current Loop Red Curve Target Current of Step Test Green Curve Ke 79900 KE sn test Actual Current of Step Test Click Drive gt Current Loop to o
6. by the encoder Ideally this Position Error pulse value should be as close as possible to the commanded velocity Start Sop button Click to turn on off the scope e Leadshine Software Operational Manual for ACS806 Error Log Window Click Tool gt Error Log to open the error log window This window shows both the present status of each error event and their history Error Log Over Curent Over Voltage Low Voltage Phase Error Encoder Error Fasiton Limit Following Error den eeeeeee eeeeeee 0o090000 Erase All Errare e 0 o o ojo e ejeeee e eje e eje e ejejeeoe JOOOJ 0 0 00 00 E S Item Description Over Current Protection will be activated when the motor current is over 20A Over Voltage Protection will be activated when the input voltage is over 40 1V Low Voltage Protection will be activated when power supply voltage is lower than 181 5 VDC Motor power lines wrong amp not connected and encoder or hall sensor feedback signals wrong Phase Error l l l l connected will activate this protection Protection will be activated when no encoder feedback signals or wrong encoder hall sensor Encoder Error feedback signals connected to drive Position Limit Protection will be activated when the positive or negative limit input in FL or RL pin is active Protection will be activated when position following error exceeds the Position Following Following Error Error Limit 10 7 Leadshine Sof
7. servo is to get satisfying performances getting the best performances of the servo is a time consuming work So if the servo performance can meet your application requirements then the easier tuning way the better Just like if the performances of the products can meet your application requirements then the cheaper the better Step 5 Don t forget to click Drive gt Download To Drive to store the changed value to the drive s nonvolatile EEPROM 21 A Leadshine Software Operational Manual for ACS806 Conti gur ations G Current U m Velocity 129 rpm PoslionEmor8 p Ero B p Trace Time 301 ms Position Error 8 When Ki 0 and the target Att a SDE Scape Settings Ki 0 Bir Velocity Rr Current ic Position Error Trace Time 1 28 Kd 6000 Internal Fuse Generator Settings Velocity rpm 1200 Interval m 100 Distance p Eir Acceleration r s 2 200 Repeat Times stat Position Loop Parameters Electrical Gear Kp 6000 BI fp Ed E n N Umer alor 1 Denominator 1 Conti gurati ons G Current 0 m Velocity rpm Position Eno 0 p Emor 0 p Trace Time 281 me Position Error 0 When Ki 400 and the target P H4 eet em reet B Scope Settings Ki 400 ir Velocity m Current ic Position Error Trace Time 1 28 Kd 6000 Internal Fuse Generator Settings Velocity rpm 1200 Interval m 100 Distance p 80000 Acceleration r s 2 200 Repeat Times 1 stat Position Loop Param
8. velocity curve However sometimes we need to trade off between high stiffness and low motor noise because high proportional gain leads to big overshoot and vibration In this example we start with small proportional gain then increase it We will stop increasing when the motor noise can not be accepted The tuning procedure is shown as follows D Ki 0 Small Kp and Kd Kpt Kdt Small Ki Adjust Kp and Kd Step 1 Set Kp 1000 Ki 0 Kp 1000 The initial value is depending on supply voltage motor and reflected load inertia The above values may not suitable for your system Please adjust them according to different symptom as follows Decrease Kp and Kd if the motor generates big noise Kp and Kd can be the same at the beginning Increase Kp and Kd if the drive s red LED blinks Protection mode Tip Giving an external torque by rotating the motor shaft or moving the load manually is good way to check whether the Kp and Kd are suitable or not If it is hard to rotate move and the motor generates big noise you should lower down Kp and Kd If it is easy to rotate move and even the drive goes into protection mode the red LED blinks you should increase Kp Kd i Servo Motor Observe the motor noise vibration when increasing loop gain Press the Start button to start the test The motor shaft will move 40000 Encoder Resolution turns in two directions Not long later the actual measured velocity and position error curve are d
9. art Step 3 Increase Kp to 8000 and click Test The distance between target value and actual value is smaller but a higher Kp is still needed Current Loop t Proportional Gain Kp 8000 Ki 1 Step 3 Give Kp 12000 15000 21000 and click the Test button respectively The green curve is getting more and more close to the red curve Intersection appears when we increase Kp to 21000 It indicates that you need to stop increasing Kp and back off Our purpose is to make the green curve the actual current close to the red curve the target 12 Kp 12000 Current Loop Kp 15000 Current Loop Ki h k R Software Operational Manual for ACS806 t Proportional Gain Kp 12000 Ki 1 t Proportional Gain Kp 15000 Ki 1 test 1 t Proportional Gain Kp 21000 Ki 1 13 A caushine Software Operational Manual for ACS806 Step 4 Now the Kp is relatively good enough But there is still distance between the green curve and the red curve when we use the mouse to zoom in the green curve So we need to introduce Ki to reduce the distance or steady error at the constant part It follows the same procedure as Kp High Ki causes big vibration system lag and makes the performance worse The following figures show how to tune the Ki Current Loop Kp 1000 Ki Current Loop Zero Integral Gain Kp 21000 Ki 1 Ke aoo KE fi Current Loop T Integral Gain Kp 21000 Ki 200
10. e systems may hunt oscillate at low frequency about the desired position Position Derivative Gain Derivative Gain provides damping by adjusting the output value as a function of the rate of change of error A low value provides very little Kd damping which may cause overshoot after a step change in position Large values have 0 65536 slower step response but may allow higher Proportional Gain to be used without oscillation Electrical Gear Item Description Range This parameter includes numerator and denominator You can scale the pulse frequency and calculate the motor speed as follows Electronic 1 255 512 1 Gear paro diu IPIE Bee AY a Deno min ator Encoder Resolution x 4 7 Leadshine Software Operational Manual for ACS806 Other Settings Item Description Range Encoder Resolution for the Internal Pulse Generator Encoder l l Note This parameter is only used for the Internal Pulse Generator It is 4 times of the 400 60000 Resolution encoder lines Position Following Error Limit The limit of the difference between commanded Position position and the actual measured position When position following error exceeds the Error Limit Position Following Error Limit in the drive the following error protection will be activated Motor Paris Motor poles divided by 2 Please refer to motor datasheet 20 Input Mode Settings Command T ype Limit Signal f PLIL DIR C VCD Active High Active Lo
11. ent Loop Tunis Wind TT 4 Configurations Window Parameters Settings eee eee 5 Ke 0 TRU Ree E EAE AE PAE ENEA AE EUN ICH Ae ANE E ETT Tee ame EEEE MD ME eT Tar cere US 9 Tror toS TO 10 Connorin Me DIVE een ana NO NO NON NO ee ee O ee 11 Curent Loop TUNN aa aaaea ara a a a a a a a a a a aa 11 Tunine the Position Loop Parameters TTT 16 A caushine Software Operational Manual for ACS806 Introduction ProTuner for ACS806 is a software tool designed to configure and tune the Leadshine digital servo drive ACS806 The user can tune the current loop and adjust the position loop parameters in this software Workspace Leadshine ProTuner for ACS806 ACS806 Nanual Test lsd File Drive Tools Help TON j Configurations Current 1471 m Velocity 100 m Position Error 27 IP Trace Time 1156 ms E rari iz er I Menu Toolbar i Ep PID Tuning Window Scope Settings Bv Velocity gv Current gv Position Error Trace Time 12s Internal Puse Generator Settings Velocity rpm 1000 Interval ms 50 Distance p 40000 Acceleration r s 2 100 Repeat Times fi Sec 1 m Position Loop Parameters Electrical Gear Kp 6500 Ki 200 Kd 3000 Numerator 1 Denominator f r Other Settings Encoder Resolution f 0000 Position Error Limit 20000 Motor Pairs 4 Parameter Settings Input Mode Settings Status eadshine echnology Lo Ltd Date 2011 12 15 Time PM 16 42 E Menus and Toolbar Men
12. erator parameter as the following figure We select the actual velocity and position following error to be displayed in the digital scope Trace Time affects the display length of the curve Here we select 1200ms Configurations Current U mA Welocity 34 tom Position Error 190 p Trace Time 497 ms MTN Low VW UL LZ eee ee eee Scope Settings ar Velocity m Current m Position Error Trace Time 1 28 nternal Fuse Generator Settings Velocity rpm 1200 Interval m 100 Distance p B0000 Acceleration r s 2 200 Repeat Times 1 stat Electrical Gear Numerator 1 Denominator n Positian Loop Parameters Keligog Ki n Kd 1000 Other Settings Encoder Resolution 4 Qu Position Error Limit 20000 Motor Pairs 4 Parameter Settings Input Made Settings Pulse Generator and Scope Settings in this Example Velocity 1200rpm Acceleration 200r s 2 Distance 80000Pulse Repeat Times 1 Click the Velocity and Position Error Curve Trace Time 1 2s 16 7 Leadshine Software Operational Manual for ACS806 The pulse generator will generate the following command trapezoid velocity profile It takes 100ms to make the motor to accelerate from 0 to 1200 rpm Velocity RPM 1200 900 600 300 0 Commanded Trapezoid Velocity Curve 300 600 900 1200 Our purpose is to get the highest system stiffness but lower motor noise The actual measured velocity should be similar as the commanded
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14. isplayed in the scope as follows We see that the position error is large and the velocity curve is not very good when comparing to the commanded one 17 7 Leadshine Software Operational Manual for ACS806 Conti gur ations G Current U mA Welocity 1719 rpm Posttion Enor 233 p Eror 233 65 Trace Time 63 ms te root I A Position Error 233 Blue Curve Position Following Error Actual Measured Velocity Internal Fuse Generator Settings Velocity rpm 1200 Interval ms 100 Distance p Eir Acceleration r s 21 200 Repeat Times 1 stat Position Loop Parameters Electrical Gear Kp 1000 KGS 0 Kp 1000 Ei 1 Numerator Denominator 1 Kd 1000 Other settings Encoder Resolution 4 9000 Position Error Limit 20000 Motor Pairs 4 Parameter Settings Input Mode Settings Step 3 Increase Kp and Kd to maximize the system stiffness or minimize the position error until the motor noise vibration can not be accepted To activate the noise vibration sometimes you need to give a disturbance to the load by either clicking the Start button or trying to push pull the load In this example we give Vp 400 800 1000 and find that the noise vibration at Vp 1000 can be accepted So we stop increasing Vp 18 7 Leadshine Software Operational Manual for ACS806 Confizurations G Current U mA Welocity 351 rpm Position Enor 102 p Eror 1 2 65 Trace Time 55 mes mmus Position Error 102
15. m Position Error Trace Time 1 28 Internal Fuse Generator Settings Velocity rpm 1000 Interval m 50 Distance p 40000 Acceleration rs 2 300 Repeat Times 2 stat Scope Settings Internal Pulse Generator Settings Position Loop Parameters Electrical Gear Kp 6500 Ei 200 Ed 3000 Numerator 1 Denominator 1 Other Settings Parameters Encoder Resolution 4 9000 Position Error Limit 20000 Motor Pairs 4 Parameter Settings Input Mode Settings Click Drive gt Configurations to open the configurations window The user can adjust the position loop PID parameters and check the result by clicking the Start button A build in Pulse Generator performs trapezoid velocity motion and the Digital Scope displays the motor s actual velocity current and position following error You can also set the electrical Gear encoder resolution position error limit and motor pairs in this window Digital Scope Item Description Range Current A Current axis of the digital scope Unit Amp Velocity rpm Velocity axis of the digital scope Unit rpm Position Error p Axis of Position following error in digital scope Unit Pulse 7 Leadshine Software Operational Manual for ACS806 Scope Settings Item Description Actual measured velocity measured by the encoder Ideally this Velocity value should be as close as possible to the commanded velocity Current Actual measured current Click to display it in the scope Position following e
16. pen the current loop tuning window It is used to configure current loop parameters according to different motor In the tuning window the user can adjust the proportional gain integral gain and test Current Item Description Range Increase this parameter to make current rise fast Proportional Gain determines the response of the drive to current setting command Low Proportional Gain provides a stable system doesn t oscillate has low Proportional Gain 1 265535 stiffness and large current error causing poor performances in tracking current setting command in each step Too large Proportional Gain values will cause oscillations and unstable systems Adjust this parameter to reduce the steady error Integral Gain helps the drive to overcome static current errors A low or zero value for the Integral Integral Gain Gain may have current errors at rest Increasing the Integral Gain can 65535 reduce the error If the Integral Gain is too large the systems may hunt oscillate about the desired position I Test The current amplitude for the step response 0 5 6A Click this button to activate the test A target curve red and an actual Test Button l l l curve green will be displayed on the screen for user analysis A Leadshine Software Operational Manual for ACS806 Configurations Window i onti gur ations R Curent m Velacity rpm Position Error p Trace Time Scope Settings air Velocity iv Current
17. rror The difference between commanded Position Error u n position and the actual measured position Trace Time Trace time of the digital scope Internal Pulse Generator Settings Item Description Velocity rpm Target velocity of Pulse Generator Acceleration r s 2 Acceleration of Pulse Generator Interval Interval between the positive and negative move Distance s Move distance of Pulse Generator Repeat Times Repeat times Range 100 3000ms Range 1 65535 rpm 1 65536 r s 2 1 65535 ms 1 65536 pulses 1 65535 7 Leadshine Software Operational Manual for ACS806 Position Loop Parameters Item Description Range Position Proportional Gain Proportional Gain determines the response of the system to position errors Low Proportional Gain provides a stable system doesn t oscillate has Kp M 0 65536 low stiffness and large position errors under load Too large Proportional Gain values will cause oscillations and unstable systems Integral Gain Integral Gain helps the control system overcome static position errors caused by friction or loading The integrator increases the output value as a function of the position error summation over time A low or zero value for the Integral Gain may Ki have position errors at rest that depend on the static or frictional loads and the 0 65536 Proportional Gain Increasing the Integral Gain can reduce these errors If the Integral Gain is too large th
18. tware Operational Manual for ACS806 Configuring the Drive If it is the first time setup you can follow the steps below to configure the drive 1 Set motor related parameters such as motor pole pairs encoder resolution and position following error 2 Tune the current loop parameters according to motor connected 3 Tune the position loop parameters for the low speed and high speed performance 4 Save the changes to drive s nonvolatile memory N The motor must be connected to the drive before trying to configure the drive Current Loop Tuning The ACS806 s current loop need to be tuned before normal operation in order to get optimize responses with different motors Otherwise the motor will be easily stall or howls when power up Below is the tuning process for a 200 Watt motor with 24VDC supply voltage Step 1 Click Drive gt Current Loop to open the tuning window Set I test 1 and start the tuning with small Kp and zero Ki Here we set Kp 4000 Current Loop Initial Value Kp 4000 Ki 1 Kp 3000 Ki H test Start Step 2 Click the Start button the plot window will show two curves The red one is target current and the green one is actual current There is large gap between them in the scope It indicates that a large Kp needs to be introduced 11 Software Operational Manual for ACS806 Current Loop Start Test Proportional Gain 4000 Integral Gain 1 Kp 4000 K f test 1 st
19. us and toolbars are at the top of the workspace You can click menu bar to view the pull down menu The toolbar below the menu offers the most frequency used commands 7 Leadshine Menu Pull Down File gt Open Save Save As Close Exit Drive gt Connect Current Loop Configuration Download to Drive Reset Tools gt Scope Error Log Help gt User Manual on Web Software Manual on Web About Leadshine ProTuner Toolbar Software Operational Manual for ACS806 Function Open a file Save a file Save as a file Close the current file Exit from the software Connect to drive Set current loop parameters Kp and Ki and test Set drive properties like I O logic motor parameters Download all data to drive Restore factory setting Open the scope and check the measured current position following error and motor velocity Check the error log Hardware manual Software manual Software information Short cut Ctrl O Ctrl X Ctrl N 7 Leadshine Software Operational Manual for ACS806 Using the Software Opening a file If you want to reload the configuration data from a file in the PC click on File gt Open The parameters in the software s workspace will be updated The file name will appear on the up right of the tile bar LZ 1 Leadshine ProIuner for ACS806 ACS806 Manual TIest lzd File Drive Tools Help AP m a Save a file KEX Click Drive gt
20. w Active Edge Direction Rising Falling Positive Neotive Parameter Settings Input Mode Settings The user can set the command s active edge direction logic active level of the Enable and Alarm signal position following error electrical gear and motor pole pairs according the motor and application The Motor Pole Pairs is very important parameter It is 2 for Leadshine s BLM series motor and 4 for Leadshine s ACM series motor Item Description Range Pulse control mode of the drive PUL DIR means pulse and direction Command Type PUL DIR or CW CCW CW CCW means clockwise pulse and counter clockwise pulse mode Limit Signal Active Level of the limit sensor input Active High low Active Edge Setting the triggered edge of pulse command signal Rising Falling Setting Default motor rotate direction You can change the direction l Direction oe Positive Negative via this option 7 Leadshine Software Operational Manual for ACS806 Scope Click Tool gt Scope to open the scope which is built inside the drive You can check the actual measured velocity current and position following error in this window Current m Velocity r min Pasitian Error pluse Trace Time Item Description Range Current mA Actual measured current Position following error The difference between commanded Velocity r min 7 E position and the actual measured position Actual measured velocity measured
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