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TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning
Overview: Setup guide for Delta ASDA-B3-E and the ASDA-B3A-E EtherCat drives with the HICKORY CNC
Controller.
Path:
Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASDA-B3_setup_rev9.odt
Examples of commonly used 220V Delta ASD-B3A-xxxx-E parts:
Frame
Power
Size
Rating (W)
(mm)
60
400
80
750
80
80
1000
100
130
* any ASD-B3-xxxx-E parts can be used but do not support the Delta STO feature (Safe Torque Off)
XX in cable part number is length in meters and is one of: 03, 05, 10, 20
There are more working combination not listed. Refer to Delta ASDA-B3 series catalog for more details:
https://downloadcenter.deltaww.com/downloadCenterCounter.aspx?DID=19246&DocPath=1&hl=en-US
Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt
Motor With
Motor
Brake
ECM-B3M-
ECM-B3M-
CA0604RS1
CA0604SS1
ECM-B3M-
ECM-B3M-
CA0804RS1
CA0804SS1
ECM-B3M-
ECM-B3M-
CA0807RS1
CA0807SS1
ECM-B3M-
ECM-B3M-
CA0810RS1
CA0810SS1
ECM-B3M-
ECM-B3M-
CA1010RS1
CA1010SS1
ECM-B3M-
ECM-B3M-
EA1310RS1
EA1310SS1
Matching
Encoder
Drive*
Cable
ASD-B3A-
0421-E
ASD-B3A-
ACS3-
0721-E
CAEA01xx
ASD-B3A-
1021-E
ACS3-
CREAA1xx
Battery
Power
Box
Cable
ACS3-
CAPW11xx
ASD-
MDBT0100
ACS3-
CRPWA2xx
Page 1
Power
Cable
(Brake)
ACS3-
CAPW21xx
ACS3-
CRBRA1xx
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Related Manuals for Centroid CNC12
Summary of Contents for Centroid CNC12
- Page 1 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Overview: Setup guide for Delta ASDA-B3-E and the ASDA-B3A-E EtherCat drives with the HICKORY CNC Controller. Path: Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASDA-B3_setup_rev9.odt Examples of commonly used 220V Delta ASD-B3A-xxxx-E parts: Frame...
- Page 2 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning The HICKORY is an integrated PLC and motion control processor. HICKORY uses an Ethernet based fieldbus to communicate with all accessories over RJ45 shielded twisted pair (Ethernet) cables. The new protocol and connection scheme are the defining features of HICKORY versus previous products such as OAK.
- Page 3 2.) Auto Detect the Ethercat drives on the daisy chain. 3.) Program the Delta Drive Parameters for use with Hickory. Bench Test Motor Movement with Delta software. 4.) Configure CNC12 Axis Labels, Drives and Encoder Mapping and Test Motors while NOT connected to the Machine 5.) Bolt motors to the machine, Use Delta AutoTune to Tune the Delta drives to the machine axes...
- Page 4 1) Hickory Bench Test a.) Wire the provided power supply according to Schematic #15226 https://www.centroidcnc.com/centroid_diy/schematics/pbrowse.php?term=15226 b.) Connect a shielded Ethernet cable from the PC on which CNC12 was installed to the HICKORY’s BeagleBone Ethernet jack. c.) Do not connect drives at this point.
- Page 5 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning - The yellow and green LEDs on the BeagleBone’s Ethernet jack will be lit. The green LED will flash after CNC12 starts. LED1 on Hickory will cycle between the three horizontal segments of the display after a few seconds.
- Page 6 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Basic CNC12 Configuration for Bench Testing From the main screen press F1 Setup → F3 Config. The password is 137. Press F1 Contrl. a) Set the units of the machine, change both DRO display units and Machine units to either Inches or Millimeters with the space bar;...
- Page 7 Power up the Delta Drives c.) Then power up HICKORY. Note: The drives should be on before applying power to HICKORY. This screen will appear upon CNC12 boot up letting you know that CNC12 has detected any EtherCat Drives on the daisy chain.
- Page 8 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning 3) Program Delta Drives for use with Hickory. Prerequisites: The following items are needed: • Computer with Delta ASDA-Soft installed. Version 6.5.0.0 was used for this document. ➔...
- Page 9 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Drive Parameter Configuration Process: • Launch the ASDA-Soft software. • You will see the following screen: • Confirm B3 or B3A drive is selected. • Confirm correct serial port is selected.
- Page 10 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • You will see this window after successful connection: ➔ You may click "Read Servo Information" to see drive and motor serial numbers. • Close the "Device Information" window to complete connection setup.
- Page 11 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • You will now see the following screen: NOTE: You may see AL013 on initial startup or after performing a factory reset of the parameters. This alarm code is safe to ignore and will be cleared in the upcoming steps.
- Page 12 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Maximize the Parameter Editor and press the "Read Parameters" button. • Press "OK" when reading parameters is completed. ➔ It is recommended to reset the drive to factory defaults before continuing. To reset, navigate to the P2.XXX tab of Parameter Editor and change the value of P2.008 to 10.
- Page 13 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Initial parameter setting: • Read in all of the parameter values again using the "Read Parameters" button. • Navigate to the tab labelled "P1.XXX" • Confirm that P1.001 has the value 0x000C.
- Page 14 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Next, open the tab labelled "P2.XXX" and change the value of P2.010, P2.011, P2.012, and P2.013 to 0x0100. Press enter after changing each parameter's value. ➔ This will clear AL013 after the next reset by removing the drive's input assignment for "E-Stop".
- Page 15 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Absolute Encoder Parameter Setup: • Navigate to the "P2.XXX" tab and set P2.069 to 0x0001 and hit enter. • Click "ON LINE" to disconnect the drive from the software. Power cycle the drive.
- Page 16 Hickory via an output relays then use the arrow keys to navigate to the correct output and force it as well. In our example the Z axis holding brake is OUT9 in stock Centroid Hickory PLC programs. Be aware of the Z axis dropping due to gravity if E-Stop is toggled with the brake off.
- Page 17 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning With CNC12 running and OUT1 forced on, go back into ASDA-Soft software and click on "OFF LINE" to reconnect the drive. Then, open "Inertia (Weight) Estimation" and press "OK" at the bottom of the menu.
- Page 18 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning * Select a safe jog speed and press "Download" to write the setting to the drive. * Press the clockwise and counterclockwise arrow buttons to jog the motor at the selected speed.
- Page 19 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning 4.) Configure CNC12 Axes a.) Axes Labels From the main menu press F1 Setup → F3 Config. Password is 137. Press F2 Mach. → F2 Motor. Under Label configure the software for the correct number of axes and label them appropriately.
- Page 20 This will allow you to test jog the paired axes on the bench/disconnected from the machine (we will square/snyc them later) 1. From CNC12 main menu: press F1 Setup → F3 Config → enter password “137” → F3 Parms and use the arrow keys or mouse to navigate to parameter 64.
- Page 21 The values are in milliseconds with 0.25 millisecond resolution. These values will be set automatically be Centroid’s Drive Delay Autotune feature and can also be hand tuned. Information on both is further on in this document.
- Page 22 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning f) Initial Setup for Absolute Encoders Set machine parameter 316 Absolute Encoder Bits appropriately. Refer to the examples for common configurations. The adder value is calculated from the encoder axis index that has an absolute encoder installed.
- Page 23 ASD-B3/B3A drives will be set to report 20 bit position to Hickory when using 24 bit encoders. Press F10 Save to save changes. Return to ASDA-Soft and change P1.001 to 0x000C. This returns it to EtherCAT mode for jogging from CNC12. - After making all the changes in this section, power cycle Hickory and drives.
- Page 24 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Confirm Encoder Feedback a) Push in the E-Stop switch to disable motor main power. b) From the main menu, press F1 Setup → F3 Config. Password is 137. Press F4 PID.
- Page 25 HICKORY. CNC12 keeps a log file containing all errors and faults, along with the time and date that these errors occurred at. You can access this log from the main menu by pressing F7 Utility → F9 Logs → F1 Errors.
- Page 26 *** For now, Skip this drive tuning step on software paired axes. Do not command motion on paired axes from software other than CNC12 when the motors are coupled to the gantry/other paired axis. Delta Drive Software Auto Tuning with stimulus from the drive: •...
- Page 27 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Select "Drive: Motion Command from Drive" in the next screen. • Click "OK" to proceed. Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt Page 27...
- Page 28 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Press "Servo On" then "OK". • Choose a safe jog speed and press "Download" to write it to the drive. Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt Page 28...
- Page 29 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Use the clockwise and counterclockwise arrows to move the axis to safe positions several motor revolutions apart. Press the "Position 1" and "Position 2" buttons to save the positions as the travel limits for the tuning process.
- Page 30 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Press "Start Moving" to start the axis motion. • Then, click "Next" and "OK" to confirm. The tuning process will now begin. Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt Page 30...
- Page 31 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • You will see this screen while auto tuning is operating. • After some time, tuning will be completed. Click "OK" to proceed to the results. Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt...
- Page 32 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning • Click "Update" to save the autotuning results to the drive. • Return to the parameters list, press "Read Parameters", and confirm the new values are stored. • Change P1.001 back to 0x000C then hit enter. This will return the drive back to EtherCAT mode after a power cycle.
- Page 33 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Sample Paired Y Axis Drive Tuning: There are two methods for Tuning software paired axes. 1) If you are lucky enought to have another axis that has the same size motor/drive as the paired axes uses and the axis kinematics are at least somewhat similar (similar overall turns ratio, similar weight (gantry axis / 2) there is a crude but sometimes effective way that is often used to get you in the ball park.
- Page 34 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning d) Disconnect the X axis drive from ASDA-Soft by clicking the "ON LINE" button on the toolbar. e) Then, unplug the USB cable from the X axis drive.
- Page 35 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Press "OK" after parameters are written to the drive. k) Disconnect the drive from ASDA-Soft using the "ON LINE" button and unplug the USB cable. Plug the USB cable into the slave Y axis drive and connect to it in ASDA-Soft. Repeat steps g through k for this drive.
- Page 36 Switch the servo drives to EtherCAT mode (P1.001 to 0x000C, requires power cycle) . c) Start manual tuning by jogging from CNC12, make sure the speeds are slow with gentle acceleration / deceleration. Start at a low bandwidth, like 10Hz, move and test, just achieve stability, there is no need to trace.
- Page 37 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Z:\tech\Technical bulletins\TB330\TB330-Centroid_Hickory_Delta_ASD-B3_setup_rev9.odt Page 37...
- Page 38 This feature allows the CNC controller to always know where it is at. When powered up Hickory/CNC12 read the absolute encoder position and know exactly where the machine current is in space even if it was moved when powered off. Absolute encoders...
- Page 39 - Currently software paired axes will not be run by the Centroid Drive Delay Autotune feature. If you run it with an active paired axis it will just skip it and give you a warning. However we recommend changing the axis labels for the paired axis to “N”.
- Page 40 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning a.) Turn servo power off and press E-stop. Then, go back into the CNC12 I/O screen to return OUT1 to its unforced state. Use the arrow keys to navigate to OUT1.
- Page 41 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Start the Auto Drive Delay Tune by pressing F1(Setup)->F3(Config)->default password is 137->F4(PID)->F5(Tune). Make sure that all axes can move the specified amount as seen on the screen without running into any obstacles or a limit switch.
- Page 42 After successful autotune, press F1 key to save results. For software paired axis, it is required to hand enter a drive delay number in CNC12 using parameters 340-347. A good starting place is to hand enter the same drive delay time that auto tune found for a similar axis motor/drive/machine axis mechanicals.
- Page 43 For some machines it is desirable to further increase the positioning accuracy of the motor/drive. Centroid’s CNC12 software has a built in scope which allows you to collect positional data while running a simple test g code program in a repeat loop and observe the real time Absolute position Error of an axis.
- Page 44 Hand Drive Delay Tuning Procedure for the case where you wish to reduce the position error by ‘hand tuning’ 1. From CNC12’s main screen, press F1 Setup → F3 Config → F3 Parms and navigate to parameter #340 2. Set the delays for any axes that will be hand tuned to a starter value such as 4 or 5 ms.
- Page 45 CNC12 Operators manual for further explanation on all G and M codes. 5. Save the file and return to CNC12. Press F8 to select the axis you wish to run the data collection on. The axis you are tuning is displayed in the upper left corner.
- Page 46 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning The axis will start moving and you will likely see a display like this: The orange trace (ErrAbs) is the position error in terms of encoder counts. There will most likely be a large observable error seen since the drive delay timing value that we entered does not match the Delta Software tuning of the drive.
- Page 47 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning After a little tweaking, below is the same scope shot showing good results of .000002” Position error. We are done! Ignore the orange spikes on the direction change and stops, its ok.
- Page 48 - Be sure to complete the paired axes setup as describe above in this document in both CNC12 and the Delta ASDA software. - Keep the axes paired in CNC12 and only command the master axis label (Y in our example) in the Drive Delay tune g code program.
- Page 49 TB330 (Rev9) – CNC12, Hickory, Delta ASD-B3A-E and B3-E Setup & Tuning Paired Axis Syncing/Autosquare Procedure overview See the Hickory Installation manual for Guidance on how to set the Absolute Home Position for any axis including Paired axes. Chapter 6.3 https://www.centroidcnc.com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual.pdf...
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