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Leadshine Technology Co. ACS606 User Manual

Digital ac servo drive
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The content in this manual has been carefully prepared and is believed to be accurate,
User's Manual
but no responsibility is assumed for inaccuracies.
For
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
ACS606
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.
Digital AC Servo Drive
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
Revision 1.0
directly threaten life or injury. According to Leadshine's terms and conditions of
©2009 All Rights Reserved
sales, the user of Leadshine's products in life support or aircraft applications
Attention: Please read this manual carefully before using the drive!
assumes all risks of such use and indemnifies Leadshine against all damages.
3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China
©2009 by Leadshine Technology Company Limited.
Tel: (86)755-26434369
Fax: (86)755-26402718
URL:
www.leadshine.com
E-Mail:
sales@leadshine.com
All Rights Reserved

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Summary of Contents for Leadshine Technology Co. ACS606

  • Page 1 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 ACS606 liability arising out of the application or use of any product or circuit described herein;...

  • Page 2: Table Of Contents

    Mechanical Specifications..................3 ProTuner Installation ..................16 Elimination of Heat ....................3 Hardware Configurations before Tuning............20 Operating Environment and Parameters..............3 ProTuner for ACS606 at Startup Window ..........21 3. Connections......................4 Introduction to ProTuner for the ACS606 ..........22 Connector Configuration..................4 Communication Setup ................23 General Information ..................4 Software Configuration before Tuning............24...

  • Page 3: Introduction, Features And Applications

    & tuning tools can meet different tuning environments or requirements. Encoder or Hall Error Protection..............48 The ACS606 can drive both DC brushless and AC servo motors. But it is more Position Following Error Protection............48 suitable for the DC brushless servo motors. Compare to ACS806, ACS606 has less I/O thus has smaller size and higher cost-effective Protection Indications.................49...

  • Page 4: Applications

    Particularly adapt to the applications require high speed, high precision, and low motor noise. 2. Specifications and Operating Environment Electrical Specifications (T = 25℃/77℉) ACS606 Parameters Min. Typical Max. Unit...

  • Page 5: Connections

    RS232 Communication Connector 3. Connections Signal Description Not connected Connector Configuration +5V power only for STU. RS232 transmit. General Information Ground. RS232 receive. Feedback Signal Connector Not connected Signal Description High Voltage Connector Encoder channel A+ input Encoder channel B+ input Signal Description Signal ground...

  • Page 6: Control Signal Connections

    Keep The ACS606 has the +5V power to supply the encoder & hall sensor. If the encoder these wires far away from the power lines. In figure 2, input circuit for these control and hall sensor drains less than 100mA, the ACS606 can supply them directly, and signals and connections to a typical motion controller is illustrated.

  • Page 7: Rs232 Interface Connection

    RS232 Interface Connection Figure 9: RS232 interface connection Typical Connections A typical connection of the ACS606 is shown as Figure 10. Please consult “Control Signal Connections” and “Encoder and Hall Sensor Connections” for more information about controller and encoder connections.

  • Page 8: Install Encoder And Hall Sensor

    Please assemble the selected module according to its factory manual. Leadshine also offer BLM series DC brushless servo motors for matching the ACS606. Please use Prepare Controller shielded cables and separate encoder signal cable from interference sources, such as Prepare a controller with pulse and direction signals.

  • Page 9: Cable Routing

    Differential signal wires should be twisted the ACS606 drive. The distance between the DC power supply of the drive and the as a pair. The combination of twisted pair wires and a differential signal significantly drive itself should be as short as possible since the cable between the two is a source adds to noise immunity.

  • Page 10: Tuning The Servo

    A high-gain system can produce large correcting As mentioned in previous contents, the ACS606 is a digital servo drive and its input torques when the error is very small. A high gain is required if the output is required command is PUL/DIR signal.

  • Page 11: Pc Window Based Tuning Using Protuner

    Figure 12. Click Next to enter the “License Agreement” window. See Figure 13. 1. If servo system is UNSTABLE, then the first thing of tuning is to stabilize the system. You can increase Derivative Gain of Position Loop (Kd) or Note: ProTuner_All_Setup_V1.0.exe can be used for all Leadshine digital drives.
  • Page 12 Figure 14. After entering the user’s information, click Next to select installation folder, where you would like to install the ProTuner. See Figure 15. Figure 16: Shortcut folder setting Set the “Shortcut Folder” in Figure 16 and continue to install the ProTuner by following Figure 17 and Figure 18.

  • Page 13: Hardware Configurations Before Tuning

    RJ-11 connector in which a special RS232 cable is connected to PC RS232 port. Power on the ACS606. The green LED indicator should be on and the motor shaft Before opening ProTuner to tune the ACS606, the following configuration must be should be locked if the servo system is OK.

  • Page 14: Introduction To Protuner For The Acs606

    LED indicator blinks. Menu Bar and Submenu Open ProTuner and the startup window appears as figure 21. For the ACS606, please select the ACS606 in AC Servo tab then click OK button. Drive Select...

  • Page 15: Software Configuration Before Tuning

    Tuning ->PositionLoop to open the position-loop window. Set the parameters the drives with Leadshine’s BLM series servo motors. If you use the ACS606 with according to the description in figure 25.
  • Page 16 After getting a small overshoot response, increase Ki to reduce the steady-state error until get a critically damped response. See figure 29. Begin to Overshoot Figure 29: Step response with better Kp and Ki of current-loop(Kp=17000,Ki=400) At that moment Kp and Ki of the current loop is nearly optimum. To reduce the Figure 27: Step response with better Kp of current-loop (Kp = 17000) raise time please increase Kp, and increase Ki to reduce the steady-state error.

  • Page 17: Position Loop Tuning

    Feedforward gain can be added to improve tracking performance (i.e. minimize the difference between commanded and actual position). The velocity loop is disabled in current version ACS606, and it adopts Position around Current (Torque) mode. Position around Torque: This mode is most common in point-to-point applications, where actual motion between start and end point is not very critical.
  • Page 18 Figure 33: Position following error curve and velocity curve (Kp=2000, Ki=0 and Kd=1000) As mentioned above, the ACS606 adopts position around current (torque) mode, and It’s very easy to see from the velocity curve (Green line) that the system is under when tuning position around the current loop, a high derivative gain may be damped.
  • Page 19 Although a smooth velocity curve have been gotten in Figure 35, we can see that the position following error is still too large to accept. And this can be improved by increasing Ki value. See Figure 36. However, we can see the system response in Figure 35 is already Over Damped, namely too much damping has caused the response to be sluggish.
  • Page 20 Increase Kd can reduce velocity overshoot, and get a better velocity curve in as shown in Figure 39. Figure 37: Position following error curve and velocity curve (Kp=4000, Ki=500 and Kd=7000) Figure 39: Position following error curve and velocity curve (Kp=6000, Ki=500 and Kd=8500) Since position following error is still large during constant speed period in Figure 39, we try to increase Ki to improve system’s performances.
  • Page 21 Figure 42: Position following error curve and velocity curve (Kp=6000, Ki=1600 and Kd=8500) Figure 40: Position following error curve and velocity curve (Kp=6000, Ki=1000 and Kd=8500) Increasing Kp a little and reducing Ki to 1400 can achieve a faster response with little overshoot, namely get a response close to Critically Damped response.

  • Page 22: Upload And Download Data

    Upload and Download Data Download Data to EEPROM A built-in EEPROM in the ACS606 is used to save the configuration data. Every time when you finish configuration or get satisfied parameters after tuning, don’t forget to download the data to drive’s EEPROM by select Option->SaveToDrive.

  • Page 23: Save Data On Harddisk

    Figure 45: Upload and download window file in the list Download Data to Device When communication between ProTuner and the ACS606 is established, you can open a configuration file and download the data from the file to the drive. See figure 47 for more details.

  • Page 24: Control Signal Input Mode

    Control Signal Input Mode CurveSetting tab In InputMode tab of Position Parameter window, the user can configure control In Tuning->PositionLoop->CurveSetting tab, the user can choose curves displayed signal input modes. in digital scope of Position Loop Tuning window and DigitalMonitor window, and DirectionDef: Direction Definition.

  • Page 25: Digital Scope Window

    Digital Scope Window Digital monitor can display curves and dynamic values of different point of different curves. Click DigitalMonitor in the main menu will open this window. Figure 49: Error check window OverCurrent: Over-current Protection. Protection will be activated when continuous current exceeds 24A.

  • Page 26: Using Tips

    The user can clear all error(s) including error history by clicking this button. The ACS606 will activate a position following error if position error between command and encoder feedback exceeds the setting limit value. To set the limit 7. Using Tips value, please select Tuning->PositionLoop->P_parameter and find the Position...

  • Page 27: Protection Functions

    To improve reliability, the drive incorporates some built-in protection functions. The this protection too. Please check your motor connection if this protection is activated ACS606 uses one RED LED to indicate what protection has been activated. The at the startup.

  • Page 28: Accessories

    8. Accessories ACS606 Accessories and Connections Figure 53: ACS606 accessories and connections with extended cable More Information about ACS606 Accessories ProTuner Figure 52: ACS806 accessories and connections Description PC-based configuration & tuning software. Order Standard Accessory, user can download from Leadshine website for free.
  • Page 29 CABLE-PC 6 pin Control signal Connector Special RS232 cable designed to setup communication between the drive and Self-locked connector for control signals include PUL+, PUL-, DIR+ and DIR-, Description Description PC-based configuration & tuning software ProTuner. ENA+，ENA-. Standard Accessory, one is enough for a user to configure and tune multiple Standard Accessory, shipped with the drive for free.

  • Page 30: Appendix

    CABLE-ENCODER APPENDIX Description Extended cable for the feedback wires between the drive and servo motor. TWELVE MONTH LIMITED WARRANTY Optional Accessory, Leadshine provides 1.2m, 2.2m, 5m, 10m cable for user Leadshine Technology Co., Ltd. warrants its products against defects in materials Order selection.

  • Page 31: Shipping Failed Product

    to the 12-month duration of this written warranty. Contact Us SHIPPING FAILED PRODUCT China Headquarters If your product should fail during the warranty period, e-mail customer service at Address: 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China tech@leadshine.com to obtain a returned material authorization number (RMA) Web:...

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