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Adtech ADT-RC400 User Manual

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ADTECH Robotic Drive System
ADT-RC400
User Manual
(Servo Debugging for Pre-motion)

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  • Page 1 ADTECH Robotic Drive System ADT-RC400 User Manual (Servo Debugging for Pre-motion)

  • Page 2: Information Of Manual

    The version of this manual: V1.1.1 Copy Right All parts of this manual, property right owned by ADTECH (Shenzhen) Technology Co.,LTD (hereinafter referred to as) to all, without permission, no unit or individual is not any imitation, copying, copying or translation. Position this guide without warranty of any kind, expressed or implied.
  • Page 3 Range of Manual This is the first manual of QC400 drive robotic control system concluding full description, drive control for the initial users, to help users select reasonable motor type; followed this specification for drive control electrical wiring between the machine and the robot in detail.
  • Page 4 Precautions ※ Transport and storage  Product package iteration of no more than six  It is not available in the product box on the climb, stand or place heavy objects  Cannot use drag the cables attached to the product or handling products ...
  • Page 5 ambient temperature range between 0 ℃-60 ℃.  To avoid high temperatures, humidity, dust or corrosive gas environments.  Shake strongly to add buffer rubber Rails. ※ Maintenance Under normal conditions of use (environment conditions: average 30 ℃, load 80%, running 12 hours a day), please press the following items for routine checks and regular checks.
  • Page 6 Likely to cause injuries or fire. Please follow the instructions drawings or wiring. Prone to electrical shock and damage the motor. In an energized state, do not arbitrarily pull the plug, in the operating state; do not touch the robot operation site. Easy electric shock, causing personal injury.
  • Page 7 The energized state, do not plug the drive terminal machine control on Easy electric shock and short circuit  Running state, do not pull out the terminal on the one machine Easy electric shock and short circuit ...
  • Page 8  Attention Please pay attention to the drive and control of the motor and the heat of the peripheral equipment. Easy to burn. When a fault occurs, the power supply is cut off, the cause is identified and removed, and the low speed running equipment should be removed.
  • Page 9 Should be regularly on the implementation of the robotics drive system maintenance and inspection operations. Neglect of maintenance and inspection is an important cause of equipment failure and accidents. Please do not put heavy objects on the product. Easily cause damage Please correct the wiring in the instruction manual.
  • Page 10  In the course of the robot's movement, no person is allowed to stand in the robot action area. There will be a major injury accident. Equipment to prevent the movement of the robot in the workplace. When the device is abnormal, it is easy to cause damage.
  • Page 11 Please do not remove the cleaning. Easy to cause fire, easy to get electric shock. Please don't make the product stored in the leaks, water, and other harmful gases in the environment. Prone to failure  Forced Please keep the sun out of the sun. Easy cause trouble Please use the specified range.
  • Page 12 Notification  Safety regulations ● Before starting the run, we need to know all the tasks of robot in accordance with the program to be executed; ● Robots run in automatic mode, personnel are not allowed to enter any of its movement reach areas;...

  • Page 13: Table Of Contents

    Contents Contents ........................... I NFORMATION OF MANUAL 1SOFTWARE INSTALLATION ......................... 1 1.1 I ......................1 NSPECTION BEFORE EBUGGING 1.2 Q ............................1 UICK TART 1.3 I PC S ......................3 NTRODUCTION OF THE UITE 2 COMMUNICATION CONNECTION ....................8 3 PARAMETER MANAGEMENT ......................11 3.1 U ........................
  • Page 14 Debugging Process You must tune some servo parameters for pre-motion before using QC400 robotic drive system. If servo parameters have tuned before, you can download these parameters to drive system directly, and then have a pre-motion. If not, you have to tune servo parameters with following steps strictly.

  • Page 15: 1Software Installation

    Servo Debugging for Pre-motion 1．Software Installation 1.1 Inspection before Debugging For security and efficiency, some aspects should be checked before debugging. (1) State of servo motor  Check fixed parts of motor to make sure that all the wires are connected well. ...
  • Page 16 Servo Debugging for Pre-motion Close the Antivirus Software of the Computer Unzip Debugging Package Install Microsoft .NET Framework4.0 Tes t whet her th e drive is installed Install Drive s uc ce s sf u ll y b y Program（Serial 【Help *1】...

  • Page 17: Introduction Of The Pc Suite

    Servo Debugging for Pre-motion QX PC Suite Leave both of them open. The OX PC Suite firstly opens with a warning message. Please read it carefully and click OK. Notice The software interface may appear incomplete phenomenon if screen resolution is too low.
  • Page 18 Servo Debugging for Pre-motion Language Operating Button Current Tool Favorite Tool Recent Tool Main Menu Information The window is made of a frame and the contents. The frame always has the same parts and the contents changes according to the tool selected by the user. Then several specific parts will be introduced.
  • Page 19 Servo Debugging for Pre-motion Left menu bar The left menu bar is used to personalize the display to the convenience of the user and to enable easy and fast access to frequency used tools. The lasted tools and favorite tools are displayed in the left menu bar.
  • Page 20 Servo Debugging for Pre-motion  Pin to Favorite: Set the current tools to the favorite ones.  More Info: It contains more information;  View: Terminal Only —— Only terminal is displayed;  View: Terminal with Statuses —— Only statuses are displayed on the terminal; ...
  • Page 21 Servo Debugging for Pre-motion...

  • Page 22: Communication Connection

    Servo Debugging for Pre-motion 2. Communication Connection You should connect the serial port with PC to realize the communication before debugging servo. The defined connections are listed in the upper-left of the frame and the QX PC Suite will detect the COM ports automatically. Then you can select a connection based on your specific task.
  • Page 23 Servo Debugging for Pre-motion shows: Defined by users Consult PC/Device Administrator/C Click this button After test successfully, click “Add” button, then click “Apply Changes” to complete the configuration of communication.
  • Page 24 Servo Debugging for Pre-motion...

  • Page 25: Parameter Management

    Servo Debugging for Pre-motion 3 Parameter Management 3.1 Upload Parameters In case of the data in the RAM and Flash overwritten, you can use the Management/Parameters tool to read all the current parameters and save them to a file on your PC.

  • Page 26: Download Parameters

    Servo Debugging for Pre-motion The specific approaches can be followed as the orders are listed in the below figure. Path and name of file are defined by users Upload Progress 3.2 Download Parameters The parameters of specific file are written to robotic drive system. The robotic drive system is required to be re-power after downloading parameters, then it can run directly without tuning servo parameters.
  • Page 27 Servo Debugging for Pre-motion Click ,select then enter Click“Confirm”at right corner，then the window of parameter management click “OK”after download completely Tick off“Save to flash Click”Brown”in “Download after parameters”window, then Click” download ”and“Perform select the file of download Download CalcFilter after parameter Parameters download”...
  • Page 28 Servo Debugging for Pre-motion Choose the path of file Downloading Progress 【 】 Notice Upload and download parameters only work in case of communication successfully.
  • Page 29 Servo Debugging for Pre-motion Relevant explanations regarding to parameter files：  Types of upload and download files are .par;  Structure of file is made up of product type, upload data and version;  You can change the file, or build your own files.

  • Page 30: Configuration Of Basic Parameter

    Servo Debugging for Pre-motion 4. Configuration of Basic Parameter Basic parameter configuration mainly includes parameter configuration of motion mode, parameter configuration of motor and parameter configuration of motor’s protection. Before setting these parameters, you need to choose axis one by one. 4.1 Configuration of Motion Mode ，...

  • Page 31: Configuration Of Motor's Parameters

    Servo Debugging for Pre-motion 4.2 Configuration of Motor’s Parameters Parameter settings mainly include: motor type, number of pole pairs, encoder type, encoder resolution and other information. Click “Apply Click ，Select Changes”，then enter the window of motor parameters “Save To Flash” Other Configuration of Configuration of...
  • Page 32 Table 4-1 Common motor types and number of pole pairs Motor Type Pole Pairs 17-bits Absolute encoder motor of Sanyo Panasonic Motor Tamagawa Motor Adtech Motor 【Help*2】 According to the information of the motor and encoder, select the type of main encoder.
  • Page 33 Servo Debugging for Pre-motion  5—17 –bits absolute motor of Nikon(Sanyo);  6—20-bits incremental motor of Panasonic;  7—17-bits absolute motor of Panasonic;  10—Incremental and saving wire motor of Tamagawa;  12—17-bits incremental motor of Tamagawa;  13—17-bits absolute motor of Tamagawa; 2 ，where N is the number of The relationship between resolution and encoder’s bit is encoder’s bit.

  • Page 34: Configuration Of Protection Parameters

    Servo Debugging for Pre-motion 4.3 Configuration of Protection Parameters It will lose control of the motor by mistake during debugging. So we need to set the relevant conditions for protection to reduce the risk. ，select Click enter window of protection parameters Maximal errors Set PWM limitations...
  • Page 35 Servo Debugging for Pre-motion The specific configurations are as follows: Default Rated Current on Motor Nameplate 3*Rated Current Default 4.2*Rated Current 4.2*Rated Current Specific Conversion referred to【Formula 1】 Rated Speed 10*Rated Speed Default Default...
  • Page 36 Servo Debugging for Pre-motion 【Help *3】 Less than rated current 0.5*resolution Default 500 Default...
  • Page 37 Servo Debugging for Pre-motion 【 】 Formula 1 Unit is user-units/sec。 The conversion relationship is n （r/min） /60* where N is the number of encoder’s bits。 For example, the maximal allowed velocity is 3000r/min and encoder’s bits is 17, then the corresponding value of PC should be set as: 2 = （3000/60）*131072 = 6553600 user-units/sec n（r/min）/60*...

  • Page 38: Gain Tuning

    Servo Debugging for Pre-motion 5 Gain Tuning 5.1 Test of Encoder before Tuning After the basic parameters having been set, users have to use the QX PC Suite software to monitor the internal wiring of servo encoder to check whether it is correct. The specific test way can be followed as: ，select Click...

  • Page 39: Commutation Tuning

    Servo Debugging for Pre-motion 【 】 Important Notice The motor with brake cannot detect with this method. 5.2 Commutation Tuning QC400 robotic drive system supports several types of motor and encode. There are different commutation modes for different types of encoder. Table 5-1 Commutation mode and features Commutation mode Applied objects...
  • Page 40 Servo Debugging for Pre-motion Click icon, select Set commutation mode, then click”Apply Changes”and to enter the window of commutation “Save To Flash” Set main encoder Click “Perform Set commutation resolution and Motor Commutation, and then mode, time and gain poles pairs click “Refresh”...
  • Page 41 Servo Debugging for Pre-motion First Choose 0 Then choose 2 after refreshing 【Notice】 If motor do not move when find the commutation angle at first time, you should rotate motor manually to find the commutation angle again. Moreover, you should find 0 position of motor several times for security in case of bringing bad influence.

  • Page 42: Gain Tuning

    Servo Debugging for Pre-motion motor of Gert 17-bits absolute motor of Sanyo 13107 Having known the commutation angle of motor, users can set this angle directly in tuning of commutation mode. Approaches of commutation tuning are set as: Select “Commutation Click icon，select mode”based on motor’s...

  • Page 43: Tuning Of Current Loop

    Servo Debugging for Pre-motion 5.3.1 Tuning of Current Loop Choose one axis in “Select axis”list, then Click icon，select choose given current (CurrRef) and actual current. At last, click “Apply Changes” to enter window of current loop Click “Trigger”to set triggering Click “Current conditions of the oscilloscope Command”icon...
  • Page 44 Servo Debugging for Pre-motion State Window of Motor Running Window of Oscilloscope Tuning Window of Current Loop The debugging window of current loop are made up of three parts, which are state window of motor running (display the states of motor running), tuning window of current loop (set current command, current gain and PI) and window of oscilloscope (observe the situation of actual current following given current).
  • Page 45 Servo Debugging for Pre-motion (2) Setting of Oscilloscope window Waveforms of “CurrRef” and “MotorCurr” are observed when executing the tuning of current loop. Set “Recording period” as 0.488 and “Recording gap” as 0.122. Owing to QC400 robotic drive system with four axis, you should tune each axis by order (A\B\C\D). ...
  • Page 46 Servo Debugging for Pre-motion 【Notice】 Number of sampling points of QC400 is less than 8000 an, the oscilloscope window can record up to four variables. (3) Setting of trigger condition Click “Trigger” icon to set corresponding parameters of trigger, and configuration of interface is as follows: Default Default...
  • Page 47 Servo Debugging for Pre-motion Default Default Select “CurrRef”and “MotorCurr” Select “Current” When P = 100 and I = 50, waveforms of current loop are plotted as:...
  • Page 48 Servo Debugging for Pre-motion Given Signal: Ref Current Loop: P=100，I=50 Feedback Signal As shown above, red line represents “CurrRef” and green line represents “MotorCurr”. From the above figure, it shows that feedback signal is far less than the given signal, P and I of current loop should be increased to obtain better performance.
  • Page 49 Servo Debugging for Pre-motion Current Loop: P=1100，I=580 The wave has already met the requirement on account of load. At this moment, you had to analyze the performance of current loop to avoid affecting the tuning of velocity and position loop.
  • Page 50 Servo Debugging for Pre-motion Put the thin gray line at the stable place Place the thick gray line where it coincides with red line Two gray lines will be in the picture if you choose this item. Right-click the waveform, you can select corresponding operations according requirements.
  • Page 51 Servo Debugging for Pre-motion Finally, after clicking “Analysis” button, the following analysis result will be displayed, showing the calculated bandwidth, damping and other information. 【 】The tuned parameters should be saved to flash after finishing current loop Notice debugging.

  • Page 52: Tuning Of Velocity Loop

    Servo Debugging for Pre-motion 5.3.2 Tuning of Velocity Loop Click icon , select Choose one axis in “Select axis”list, to enter interface of velocity loop. then choose given current (CurrVel) and actual position. At last, click “Apply Changes” Click “ Vel.Command”icon Click “Trigger”to set triggering conditions of the Set type, amplitude and...
  • Page 53 Servo Debugging for Pre-motion Click “ ” icon, then select “Vel.Command” icon. Some parameters are set as follows: Default Default Select “CurrRef”and “MotorCurr” Select “Current” After finishing configuration, click “Apply Changes”, then “Save to Flash”. (2) Setting of Oscilloscope Window Waveforms of “VelRef”...
  • Page 54 Servo Debugging for Pre-motion    “ Recording gap”(1) select A axis from “Selected axis” item period”(1) select   “VelRef ” in “Select message category” “Add” select “ Vel ” in “Select message:”   “Add” “Apply Changes”. Specific orders are listed in the following figure: Default Default Select...
  • Page 55 Servo Debugging for Pre-motion Default Default Select “CurrRef”and “MotorCurr” Select “Current” (4) Setting of Filter Click “Filters” icon in the “Velocity Control” to enter tuning interface of velocity loop. Specific configuration and steps are shown in below figure:...
  • Page 56 Servo Debugging for Pre-motion Default Default Select “CurrRef”and “MotorCurr” Select “Current” Filtering velocity signals of encoder’s feedback and given. Cut-off frequency is adjusted appropriately according to the waveforms of feedback and given observed in oscilloscope. (5) Velocity Tuning After settings of filter, click “Vel.Tuning” icon to enter the velocity loop interface. Then set gain and integral of the velocity loop, which should be set from small to large.
  • Page 57 Servo Debugging for Pre-motion Default Default Select “CurrRef”and “MotorCurr” Select “Current” The waveforms of velocity loop without filters are shown below. It can be seen that the waveform of actual velocity has significant interferences.
  • Page 58 Servo Debugging for Pre-motion Considering the bad performance shown in above figure, a better waveform is obtained after adding filters: At this moment, the velocity tuning has basically completed. The gain of velocity loop should be increased appropriately when the system has a load. Obtained good parameters of velocity loop are advised to be saved to flash.

  • Page 59: Tuning Of Position Loop

    Servo Debugging for Pre-motion 5.3.3 Tuning of Position Loop Choose one axis in “Select axis”list, then Click icon, select choose given current (CurrVel) and actual position. At last, click “Apply Changes” to enter interface of position loop Click “Trigger”to set triggering conditions of the oscilloscope Click “...
  • Page 60 Servo Debugging for Pre-motion Select”Square wave” About 2000 After finishing configuration, click “Apply Changes”, then “Save to Flash”. (2) Setting of Oscilloscope Window Waveforms of “PosRef” and “Pos” are observed in oscilloscope window when tuning of velocity loop is executing. Set “Recording period” as 1 and “Recording gap” as 1. Owing to QC400 robotic drive system with four axis, you should tune each axis by order (A\B\C\D) with A first.
  • Page 61 Servo Debugging for Pre-motion Default Default Select “ Pos” and “PosRef” Select”Position” After finishing above configuration, click “Apply Changes”, then “Save to Flash”. (3) Setting of Trigger Condition Click “Trigger” icon to define variables and set their values which are used in trigger. Trigger condition is defined according to actual requirement.
  • Page 62 Servo Debugging for Pre-motion Default Default Select “CurrRef”and “MotorCurr” Select “Current” (4) Tuning of Position Loop Only gain (P) is applied in position loop. Try to increase the P value to increase the responsiveness of the system without overshoot. However, the actual gain should be set according to requirements.
  • Page 63 Servo Debugging for Pre-motion For example, debugging effect of position loop is shown below: For practical applications, gain of position loop should not be set too high, particularly in the industrial robotic occasions, because the high gain of position loop may cause arm jitter.

  • Page 64: Pre-Motion

    Servo Debugging for Pre-motion 6 Pre-motion The motor need to have a pre-motion once the configuration of basic parameters and debugging are completed. Since each arm of industrial robot has the limitation stroke range, the point to point movement could be used to test the effect of debugging. Click icon，select Click “Go 1 Rep”...
  • Page 65 Servo Debugging for Pre-motion Select”Square wave” About 2000 Acceleration: unit is user-units/sec^2，which is usually set 5~10 times of speed. Deceleration: unit is user-units/sec^2，which is also usually set 5~10 times of speed. Speed: unit is user-units/sec。Assume that speed=1000000 user-units/sec and bits of encoder then convert...
  • Page 66 Servo Debugging for Pre-motion...

  • Page 67: Error Alarm Of Servo And Handling

    Servo Debugging for Pre-motion 7 Error Alarm of Servo and Handling QC400 robotic drive system has set a serial of protections regarding to driver and motor. There are inevitably some alarms during debugging. User must to exclude alarm once they have appeared in order to fulfill the following debug.

  • Page 68: Cause Of The Alarm

    Servo Debugging for Pre-motion 2) Velocity error is over limitation Cause of the alarm Processing way Maximal allowed velocity error is Increase the maximal allowed velocity set too low. error. Gain velocity loop Adjust parameters of velocity loop （mainly modify gain） incorrect.
  • Page 69 Servo Debugging for Pre-motion Main encoder is not connected Cause of the alarm Processing way Connection of motor encoder’s Check the connection between motor’s wires is wrong. encoder and QC400’s. The type of selected encoder is Modify the type of encoder in the window incorrect.
  • Page 70 Servo Debugging for Pre-motion Female voltage is too low or too high Cause of the alarm Processing way Abnormality of power connection or Check internal wires. internal power supply of QC400. Abnormality of QC400’s internal drive Check the module of drive board. board.
  • Page 71 Servo Debugging for Pre-motion Failure of calculate filter Cause of the alarm Processing way perform calculations Close motor enabled and re-execute the unsuccessful filter after modifying filter. calculation filters. Temperature alarm Cause of the alarm Processing way Protection temperature of the robotic Change the value of maximal allowed drive system is wrong.

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