Leadshine Technology ACS806 User Manual Download

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User

’

s Manual

For

ACS806

Digital AC Servo Drive

Revision 1.0

Attention: Please read this manual carefully before using the drive!

3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China

Tel: (86)755-26434369 Fax: (86)755-26402718

URL:

www.leadshine.com

E-Mail:

[email protected]

The content in this manual has been carefully prepared and is believed to be accurate,

but no responsibility is assumed for inaccuracies.

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.

2009 by Leadshine Technology Company Limited.

Summary of Contents for ACS806

Page 1: ...o 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...

Page 2: ...13 Regulated or Unregulated Power Supply 13 Selecting Supply Voltage 14 Prepare Controller 14 Contents Tel 86 755 26434369 II Website www leadshine com System Connections and Noise Prevention 14 Wire Gauge 14 Cable Routing 15 Twisted Wires 15 Cable Shielding 15 System Grounding 16 Power Supply Connection 16 5 Tuning the Servo 17 Testing the Servo 17 Tuning the Servo 17 6 PC window based Tuning Usi...

Page 3: ...Tel 86 755 26434369 1 Website www leadshine com 1 Introduction Features and Applications Introduction Leadshine s fully digital AC servo drive ACS806 is developed with 32 bit DSP based on advanced control algorithm Since its input commands are PUL DIR signals the users can upgrade stepping drives to the ACS806 without changing control systems The ACS806 can offer high precision high speed and high...

Page 4: ...g error 1 count l Velocity accuracy 2rpm l Maximum acceleration speed No Load 80 rpm ms2 l Input frequency up to 600 kHz l Maximum speed 4000 rpm l Allowable low speed reaches1 rpm l Positioning accuracy 1 count l Suitable for 18 80 VDC AC servo motors A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 3 Website w...

Page 5: ...el A output O A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 5 Website www leadshine com 22 B Encoder channel B output O 23 B Encoder channel B output O 24 Z Encoder channel Z output O 25 Z Encoder channel Z output O 26 SGND Signal ground GND Halls Encoder Connector Pin Signal Description I O 1 EA Encoder chan...

Page 6: ...guration tools such as ProTuner STU ACS If active at low level FL RL must be kept at high level for normal drive operation and the drive will short circuit the motor coils to stop the motor immediately when FL RL turn to low level If active at high level FL RL must be kept at low level for normal drive operation and the drive will short circuit the motor coils to stop the motor immediately when FL...

Page 7: ...tions Recommend using the 5V supply output pin Digital Analog I O for FL RL input Figure 4 Input circuit and connections for RL and FL A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 9 Website www leadshine com Pend ALM Output Circuits and Connections Figure 5 Output circuit and connection for Pend and ALM A A ...

Page 8: ... than 100mA the ACS806 can supply them directly and connect it as Figure 7 If the encoder drains more than 50mA use an external DC supply and connect it as Figure 8 Figure 7 The ACS806 supplies the encoder directly Figure 8 Using external DC power supply to supply the encoder A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 ...

Page 9: ... Please assemble the selected module according to its factory manual Leadshine also offer ACM series AC servo motors for matching the ACS806 Please use shielded cables and separate encoder signal cable from interference sources such as motor wires and power wires at least 5 cm Prepare Power Supply Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to su...

Page 10: ...more critical as the cable length increases Use the following table to select the appropriate wire size to use in your application A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 15 Website www leadshine com Current A Minimum wire size AWG 10 20 15 18 20 16 Cable Routing All content sensitive signal wires shoul...

Page 11: ... interference DO NOT daisy chain the power supply input pins of the drives Instead please connect them to power supply separately A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 17 Website www leadshine com 5 Tuning the Servo Testing the Servo You may wish to secure the motor so it can t jump off the bench Turn...

Page 12: ... optional is available too and it s for field tuning without PC A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 19 Website www leadshine com Tuning servo systems formed by the ACS806 can be summarized as the following rules 1 If servo system is UNSTABLE then the first thing of tuning is to stabilize the system ...

Page 13: ... 0 exe can be used for all Leadshine digital drives User can get it from either Leadshine CD or website Please get the latest version from http www leadshine com A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 21 Website www leadshine com Choose I agree to the terms of this license agreement and click Next to c...

Page 14: ...ization A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 23 Website www leadshine com Figure 18 Installing the ProTuner Figure 19 Finish installation Note Leadshine also offers special version ProTuner which does not need installation Please visit our website www leadshine com for latest ProTuner Hardware Config...

Page 15: ...ic parameters can also be used for other drives with the same servo motors 2 Please double check the connections and make sure the motor would not jump off before powering on the drive if start at a high acceleration 3 In order to setup communication between the drive and ProTuner the ACS806 should be powered ProTuner for the ACS806 at Startup Window Power on the ACS806 The green LED indicator sho...

Page 16: ... ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 27 Website www leadshine com Software Configuration before Tuning Some parameters must be configured before tuning the drive and the motor Select Tuning PositionLoop to open the position loop window Set the parameters as according to the description in figure 25 Figure 25 Software configuration before Tuning Current Loop Tuning For most...

Page 17: ... following steps to get optimization step response 1 Give Kp a value and set Ki 0 Click the Start button and observe the green curve in the window 2 If the response is an over damped response as shown in figure 26 increase Kp until get an under damped response as figure 27 3 If get a large overshoot response as shown in figure 28 decrease Kp to get a smaller overshoot response as figure 27 4 After...

Page 18: ... the new torque set point There are some important differences in the tuning process and application of these two approaches Position around Velocity This mode is most common in contouring application where a position trajectory must be tracked very closely The velocity loop provides additional stiffness and keeps the dynamic position errors minimal since the system now reacts to not just position...

Page 19: ...nd integral gains Start to Tune Set the parameters and select the curves displayed in Digital Monitor before starting self test and tuning See Figure 31 and Figure 32 for the parameters for the tuning in this paper When we tune a servo we are trying to achieve the fastest response with little or no overshoot namely get a Critically Damped response Figure 31 Self test motion settings for the tuning...

Page 20: ...ither side of its target so it must be damped Figure 26 shows the result after increasing Kd to 800 In the Figure 34 the oscillation is much smaller than that of Figure 33 You can get even smaller oscillation when increasing Kd to 1000 See Figure 35 A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 35 Website www...

Page 21: ... Damped namely too much damping has caused the response to be sluggish This can be improved by increasing Kp or reducing Kd See Figure 37 and Figure 38 Here we try to improve the performances by increasing Kp Figure 36 Position following error curve and velocity curve Kp 800 Ki 100 and Kd 1000 A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re e...

Page 22: ... large during constant speed period in Figure 39 we try to increase Ki to improve system s performances Figure 40 Figure 41 and Figure 42 show the result after increasing Ki From Figure 42 we can see that too much Ki will cause position curve over shoot A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 39 Website...

Page 23: ...ee detail in next chapter A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 41 Website www leadshine com Figure 43 Position following error curve and velocity curve Kp 1500 Ki 350 and Kd 1200 Tuning servo systems formed by ACS806 drives can be summarized as the following rules 1 If servo system is UNSTABLE then t...

Page 24: ...r example the Error Check window will display the last ten errors if click Err_check in main menu bar A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 43 Website www leadshine com Save Data on Harddisk ProTuner offers a tool to save all the configuration data on harddisk This tool is very useful when building ma...

Page 25: ...mandType Command Type of control signal including PUL DIR and CW CCW Set this parameter according to Command Type of motion controller ActiveEdge Active Edge The user can set the triggered edge of pulse command signal in this panel When the drive works in CW CCW mode no matter what level is at fixed level terminal the drive can works properly More Informaiton about ProTuner T_Speed_Par tab In Tuni...

Page 26: ...easured position measured by the encoder Ideally this value should be as close as possible to the commanded position i_ref Current Command This is the commanded current v_ref Velocity Command This is the commanded velocity p_ref Position Command This is the commanded position Trace Time Trace Time This is the trace time of the digital scope A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er r...

Page 27: ...r reaches Position Following Error Limit parameter setting in the drive this protection will be activated ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 49 Website www lea...

Page 28: ...e reliability the drive incorporates some built in protection functions The ACS806 uses one RED LED to indicate what protection has been activated The periodic time of RED is 5 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be displayed by RED LED so the drive will decide what error to display according to their priorities...

Page 29: ...inst power leads reversal it is critical to make sure that power supply leads correctly connected to drive Otherwise the drive will be damaged instantly Protection Indications c Time s of ON Sequence wave of RED LED Description 1st 1 Over current protection 2nd 2 Over voltage protection 3rd 3 Under voltage protection 4th 4 Phase error protection 5th 5 Encoder or Hall error protection 6th 6 Limit e...

Page 30: ... C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 55 Website www leadshine com CABLE PC Description Special RS232 cable designed to setup communication between the drive and PC based configuration tuning software ProTuner Order Standard Accessory one is enough for a user to configure and tune multiple drives STU ACS Description Handheld configuration tuning...

Page 31: ...R Description Extended cable for the feedback wires between the driver and servo motor Order Optional Accessory Leadshine provides 1 2m 2 2m 5m 10m cable for user selection Users can select the proper length according to their needs A AC CS S8 80 06 6 D Di ig gi it ta al l A AC C S Se er rv vo o d dr ri iv ve e M Ma an nu ua al l R Re ev v1 1 0 0 Tel 86 755 26434369 57 Website www leadshine com CA...

Page 32: ...shine for warranty service and Leadshine shall pay for return of products to customer WARRANTY LIMITATIONS Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the a...

Page 33: ...reas 86 755 2640 9254 for Europe America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com and vic leadshine com Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web http www leadshineUSA com Email sales leadshineUSA com and support ...

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