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Summary of Contents for SYNAPTICON SOMANET OBLAC Drives Box
- Page 1 Commissioning and Tuning with SOMANET OBLAC Drives Documentation v 3.2.0 | Build: 2020-05-25 © 2020 Synapticon GmbH...
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Page 2: Table Of Contents
1.5 Motion Control Tuning 1.5.1 Overview of the Tools 1.5.2 Auto-Tuning 1.5.2.1 Concept of Auto-Tuning 1.5.2.2 Goal of Position Auto-tuning 1.5.2.3 Goal of Velocity Auto-tuning © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 2/67... - Page 3 1.6.4 Rotate your motor to defined positions 1.7 Update/downgrade OBLAC Drives 1.8 Troubleshooting 1.8.1 Virtualization not activated 1.8.2 Memory Warning 1.8.3 Runtime Issues 1.8.4 Other Issues © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 3/67...
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Page 4: Commissioning And Tuning With Somanet Oblac Drives
Drives: Install and run any version of OBLAC Drives that fits your drive. Troubleshooting: If something goes wrong while using OBLAC Drives you can find troubleshooting instructions here. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 4/67... - Page 5 Commissioning and Tuning with SOMANET OBLAC Drives © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 5/67...
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Page 6: Oblac Drives Box
OBLAC Drives Box is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives and the related services. It supports access over WiFi or local area network. 1.1.1 Connectors © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 6/67... -
Page 7: Installation
When you need to reset it, please hold the power switch for about 5 seconds. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 7/67... -
Page 8: Open Oblac Drives
Box via WiFi as the Box acts as an access point. However, if you don’t have a LAN connection, you can also share your Host-PC’s WiFi with the Box using a LAN cable: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 8/67... - Page 9 Connection editor with the terminal: nm-connection-editor Double-click on your Ethernet connection to edit it Enter the IPv4-Settings Select the method “Shared to other computers” © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 9/67...
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Page 10: Update Oblac Drives
That’s it! You may now proceed to commission your SOMANET servo drive: Set up your drive system How to set the parameters for your motor and sensors correctly. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 10/67... -
Page 11: Oblac Drives Virtual Machine
ANY version of VMWare Workstation Player starting from 14.0 can be used for OBLAC Drives. 3. Open a virtual machine 4. Select the downloaded OBLAC Drives image (OVA file) and import it to VMware Player © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 11/67... - Page 12 Ensure that the “Replicate physical network connection state” option is checked Press OK to save changes Power up connect the servo drive 7. Power on the virtual machine © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 12/67...
- Page 13 You may also check “Do not show this message again” 4. Edit the Virtual Machine Settings and set the following (if not already set) © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 13/67...
- Page 14 Set the number of processor cores to 2 Check the “Enable hypervisor application” option There should be two network adapters set: “Share with my Mac” © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 14/67...
- Page 15 Commissioning and Tuning with SOMANET OBLAC Drives Ethernet adapter Power up connect the slaves 6. Play the virtual machine © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 15/67...
- Page 16 NAT and one set to Bridged (Automatic) Ensure that the “Replicate physical network connection state” option is checked Press OK to save changes 6. Network settings Execute sudo /usr/lib/vmware/bin/vmware-netcfg © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 16/67...
- Page 17 7. Power up and connect the slaves 8. Play the virtual machine 9. In case your systems hints that a swap partition is needed: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 17/67...
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Page 18: Connecting To Oblac Drives
Once your virtual machine is powered up, you will find the IP address of OBLAC Drives at the top of the screen. Enter this IP address in your browser and wait for OBLAC Drives to show the connected drives. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 18/67... - Page 19 Please check in you browser that the Drive is connected: Now you are ready to use the features of OBLAC Drives! NEXT STEP: Proceed to Commissioning Guide. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 19/67...
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Page 20: Troubleshooting
In that case, please try switching the order of the network adapters in the VMware setting for that virtual machine: 1. Bridged (Automatic) 2. NAT There are more issues listed in our Troubleshooting Guide. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 20/67... -
Page 21: Using Oblac Drives
After clicking “Install OBLAC Drives” you will be forwarded to the OBLAC Update Service and see a list of all current releases. Use this list also to select between different versions of OBLAC Drives. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 21/67... -
Page 22: Save To Device
The Device description is an XML file that contains all the objects used and their properties. For EtherCAT devices this is ESI (EtherCAT Slave Information). © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 22/67... -
Page 23: Load Configuration File
This action is irreversible. It will remove all files from a drive and install an empty firmware. 1 .3.2 User Interface Overview © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 23/67... -
Page 24: Toggle View
In the Quick Open field, any keyword typed in will reveal the parameter that matches best. The search input can search parameters by: name index in format 0x1000 and specialized editors prefixed with # for example #filtering. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 24/67... - Page 25 You can edit the value directly in the Quick Open input box or view the parameter documentation by clicking on the (i) button. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 25/67...
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Page 26: Set Up Your Servo Drive
After the firmware is installed, OBLAC Drives will restart the tools, this will take a few moments. Once the connected drives are initialized again, OBLAC Drives will show a message that the drive isn’t configured yet. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 26/67... - Page 27 Click on the “Launch Setup Wizard” link to open the setup wizard. It will first ask you to give a name to your drive. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 27/67...
- Page 28 Commissioning and Tuning with SOMANET OBLAC Drives First you need to determine if you have an attached brake. If you have a brake, insert the parameters. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 28/67...
- Page 29 After clicking on “Next” you will be asked for details of the connected motor. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 29/67...
- Page 30 To configure an encoder, click onto “details” and set the parameters as you wish. If you want to use this encoder as a motion control sensor, you will be able to test if it is properly configured in the testing area. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 30/67...
- Page 31 After finishing the wizard, OBLAC Drives will open the “Playground”, where you can test the basic functionality of your new SOMANET drive setup. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 31/67...
- Page 32 Commissioning and Tuning with SOMANET OBLAC Drives Now you should tune the controller gains for precise motion: NEXT STEP: Motion control tuning © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 32/67...
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Page 33: Motion Control Tuning
Instructions for manually tuning the cascaded PID controller. 1.5.1 Overview of the Tools 1. Start tuning by identifying the mechanical properties with our System Identification feature © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 33/67... - Page 34 2. Use the feedback graph to determine the best values 3. Finetune the controller gains and design the optimal control structure 4. Save the values to the drives © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 34/67...
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Page 35: Auto-Tuning
The Position Auto-tuning process calculates the gains for the cascaded controller automatically. The core of the cascaded controller is linear. However, there are multiple nonlinear additions: saturation, feedforward terms integrator clamping. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 35/67... -
Page 36: Goal Of Velocity Auto-Tuning
PID Controllers: Theory, Design, and Tuning 1.5.2.3 Goal of Velocity Auto-tuning The Velocity Auto-tuning process calculates the gains for the velocity controller automatically. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 36/67... -
Page 37: System Identification
5. If the system has very high static friction, small amplitude torque signal will overestimate viscous friction and inertia. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 37/67... -
Page 38: How To Use
An example of low amplitude can be seen in the image below: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 38/67... - Page 39 High values will result in less stress and the identification procedure will be less precise due to the EtherCAT communication delay. As a result, higher frequencies are included into the model. An © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 39/67...
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Page 40: F.a.q
# The system goes to overcurrent or the software resets during the system identification. Check the configuration parameters and compare them to the official motor and sensor datasheet. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 40/67... - Page 41 # How does the System Identification work? A torque chirp test signal with specific frequency range is injected into the electromechanical system and the resulting velocity signal is recorded. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 41/67...
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Page 42: Position Auto-Tuning
The control loop bandwidth is higher than the P-PI configuration. However, it tends to overshoot: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 42/67... - Page 43 There are currently 4 repeatable test signals: square wave, ramp, bidirectional ramp and sine. It is possible to drag sliders and manually change gains during the reference signal following: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 43/67...
- Page 44 Settling time is the time [in ms] needed to settle the step response within 2% of the reference value. The auto-tuning procedure will try to find gains to ensure the specified settling time given the identified model. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 44/67...
- Page 45 Values > 1 can be used for removing overshoot but at cost of slower settling time, it may also lead to undershoot and non-zero steady state error. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 45/67...
- Page 46 Values < 1 can be used to achieve a sharper response and a better bandwidth at a cost of overshoot: Damping ratio is minimal: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 46/67...
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Page 47: Next Steps
Reduce the test signal amplitude or frequency Increase the settling time. Check the configuration of the motor and sensor. Make sure that correct power supply is used. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 47/67... - Page 48 Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is recommended to perform a system identification and tuning after filters were configured. Be careful, filters severely reduce stability due to phase delay. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 48/67...
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Page 49: Velocity Auto-Tuning
2 regions: Underdamped < 1: overshoot is allowed, sharper response An example of velocity control loop step response with damping ratio of 0.4: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 49/67... - Page 50 Basically, it is a frequency the system may follow while keeping 71% of the amplitude. An example of velocity control loop 10 Hz sine wave tracking with requested bandwidth of 10 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 50/67...
- Page 51 Commissioning and Tuning with SOMANET OBLAC Drives An example of velocity control loop 10 Hz sine wave tracking with requested bandwidth of 80 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 51/67...
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Page 52: Next Steps
Check the configuration of the motor and sensor. Make sure that correct power supply is used. # How do filters influence the auto-tuning? © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 52/67... - Page 53 Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is recommended to perform a system identification and tuning after filters were configured. Be careful, filters severely reduce stability due to phase delay. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 53/67...
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Page 54: Manual Tuning
However, all controller gains can also be adjusted manually. Manual Tuning of the current controller Manual Tuning of the velocity control loop Manual Tuning of the position control loop © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 54/67... -
Page 55: Manual Tuning Of The Current Controller
10% of the reference value. In case monitoring the step response (either by using a current probe and oscilloscope, or by using © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 55/67... - Page 56 Repeat this step until a vibration is felt in the system. This vibration means that the system is close to its instability margine. At this point reduce the kp by 30%. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 56/67...
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Page 57: Manual Tuning Of The Velocity Control Loop
This applies if either acceleration and deceleration durations shall be reduced even further (to less than about 1 second) one if the speed shows indesired fast oscilations which often become perceptabile acoustically Further reference © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 57/67... -
Page 58: Manual Tuning Of The Position Control Loop: Cascaded Controller
Using these initial values, controller gains could be manually tuned using your preferred methods. Classical tuning methods for PID controllers like Ziegler-Nichols can be applied here. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 58/67... - Page 59 The PI-P cascade controller may look similar to the simple PID controller, however the structure is different and therefore a different tuning method should be used. different and therefore a different tuning method should be used. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 59/67...
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Page 60: Test Your Drive At The Playground
Your motor should start rotating now and you should be able to observe the motion in OBLAC Drives. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 60/67... -
Page 61: Rotate Your Motor At Defined Velocities
Finally, you can check the performance of your position control loop by using one of the position setpoint test functions available in OBLAC Drives. Depending on what suits your application best, you can choose from: step © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 61/67... - Page 62 If you encounter any problems, make sure they are sorted out before you continue. Reviewing the above-mentioned list of prerequisites should be your first step. You can also have a look at our troubleshooting site. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 62/67...
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Page 63: Update/Downgrade Oblac Drives
2. From the list of releases, click “INSTALL” on the release of your choice. 3. After installation, click “OPEN” to return to OBLAC Drives. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 63/67... - Page 64 OBLAC Drives Update Service please manually enter port 64000 in your URL (e.g access OBLAC Drives Update Service please manually enter port 64000 in your URL (e.g 192.168.0.1:64000) 192.168.0.1:64000) © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 64/67...
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Page 65: Troubleshooting
To fix that issue, you have to activate the virtualization technology of your processor (VT-x / AMD-V) in your BIOS. © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 65/67... -
Page 66: Memory Warning
1.8.3 Runtime Issues One of the most common issues appears directly after installing OLAC Drives. The browser will be opened and the following screen appears: © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 66/67... -
Page 67: Other Issues
If you couldn’t find a solution to your problem, please contact us at support synapticon , our engineers are happy to help! engineers are happy to help! © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 67/67...
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