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Servo & Motion (ASDA & ECMA)

ASDA-A2, ASDA-B2, ASDA-M

How to connect ASDA-A2 to a PROFINET network

Problem: our ASDA-A2 servo drive is a very good high-end servo drive, except for the fact that it does not support PROFINET until now, and for one of our potential costumers we needed such functionality.

This document explains the solution that we did for such problems.

System structure: the system is basically to control a load with our ASDA-A2-M servo drive, which has CANOpen communication. The controller is a PROFINET Master (e.g. Siemens S7 PLC).

Here we used a gateway, to bridge the connection between PROFINET and CANOpen, the gateway used was IXXAT CME/  PN from HMS.

ASDA-A2 configuration: the servo drive’s parameters were adjusted to the connected motor, and to be controlled by a CANOpen Master, below are the main parameters for such a configuration:

Parameter Value Discerption
P1-01 0x000B Control Mode and Output Direction (CANopen Mode)
P1-44 1000 Electronic Gear Ratio (1st Numerator) (N1)
P1-45 1 Electronic Gear Ratio (Denominator) (M)
P3-00 0x0004 Communication Address Setting
P3-01 0x0403 Transmission Speed (1.0M bits / second)

 

The ASDA-A2-M CANOpen interface supports up to 4 PDOs duplex (transmit and receive), each PDO has a length of 8 bytes.

For an explanation for the commands needed to control the drive from CANOpen, please refer to the document CANopen for ASDA-A2_M_EN_20120921

IXXAT CME/PN gateway: this gateway can be parametrized using its own software (CANopen Configuration Studio for IXXAT CME-PN 2.1). In the software the ESD file for the ASDA-A2 can be loaded, and the values that need to be transferred are selected. The variables selected for this application are as follows:

Index Sub-Index Size (Bits) Parameter name
RPDO1
6040 00 16 Controlword
6081 00 32 Profile velocity
RPDO2
607A 00 32 Target Position
60FF 00 32 Target Velocity
RPDO3
6083 00 32 Profile acceleration
6084 00 32 Profile deceleration
RPDO4
6060 00 8 Modes of operation
6098 00 8 Homing method
607C 00 32 Home offset
TPDO1
6041 00 16 Statusword
6077 00 16 Torque actual value
6078 00 16 Current actual value
TPDO2
6064 00 32 Position actual value
TPDO3
606C 00 32 Velocity actual value
TPDO4
603F 00 16 Error code

 

After the configuration has been made, a compilation is done in the software, and then the GSDML file is exported to be used in the PROFINET master as a device .

full screen is recommended

 

And the last step is to download the configuration to the IXXAT gateway using the USB cable (mini USB port).

PROFINET Master: here in this case a Siemens PLC is used (CPU1516-3 PN), first step in the hardware configuration the GSDML file is loaded, and then the device is inserted in the HW configuration. After inserting the device, it will automatically assign inputs and outputs areas for the mentioned variables, where they can be used later in the PLC program to control the servo drive.

we hope this will be of help to your application.

3

Succesful Application: DVP20PM + DOPB-PS and G-Code download feature

Today, were going to talk about motion control.
There´s a PLC not released in many countries, but capable to manage up to 3 axis using step and direction control, is called DVP20PM or PM series.

20070817-20PM

This PLC needs special software called PMSoft, available on the web for free, as always.
This software a part from be able to program DVP20PM, it have the capability to work with G-Code files

PM-Soft Software

The G-Code files are a codified files that transform a Autocad file into a motion control trajectories, making the programming of motion control systems really easy.
Thanks to that codification, you can cut a difficult wood profile for example, designed previously using Autocad, and avoiding the hard PLC programming work to the engineer.

The problem that customer use to have with DVP20PM is when customer want to change the cutting profile of their product, because in that occasions, the Computer is needed, and not always our customer have a computer on the machine, isn’t it!

G-Code DVP20PM Download

Here, is where appears our new DOP-PS models, already available in EMEA region.
With this HMI´s your customer have the capability to change the G-Code profile only with one USB disk, following the next process:
1. Create Autocad File
2. Transform to G-Code and copy to USB disk
3. Connect the USB Disk to the DOPB-PS and download it to the 20PM
4. Run the program!

According to that, our HMI team prepares for us the complete following example where we´re going to cut an Scorpion picture profile into our 20PM.

You can download the HMI and PLC programs, and a nice pdf detailed explanation of how they create this application in our FTP Delta application guide folder

DVP20PM + DOPB-PS and G-Code download feature example

As you should understand this really simple kind of CNC tool could be applied to many kind of applications, from Wood cutting, plasma, or gluing, to stone grinding or even metal cutting!
Don´t hesitate to share your experiences with us.

And really soon same functionality to DVP10MC the future CANopen motion controller from Delta!

28

Technical Announcement – PNP connection to Delta Servodrive

This is dedicated for European customers.
Mainly PNP is used exclusively in Europe, some machines in Middle East, but America and Asia and completely NPN.
That’s why in the first place our servo drive inputs are only compatible for NPN PLC output (like our Delta PLC’s).

But what happen If my customer is really used to work with his European brand PLC, but he wants to test our servo drives?
In this case we suggest the following PNP connection for ASDA-A2.

Furthermore, in the attached file you will find all the other suggested connections for the other servo drive series.
Techincal Announcement Servodrive PNP connection

5

Motion Control: Pick & Place (2 axis interpolation)

One of the most typical applications once you have some interpolation device in your hands is Pick & Place.
The objectie of the application is move some object from one point to another one, and you can´t find one single company that didn´t need in some way one variable of this application.

Of course application have multiple variables, and the most easy one is with linear movements.
Simple movements Pick & Place

But later engineers think how to save time with that process to make their machines faster.
And the easy way is to interpolate both axis following a semicircle as below.
Two axis interpolation

Because of the popularity of Pick & Place, in Delta we have several devices able to work like that. Further more our ASDA-A2 servodrive is able to do it by his own, with no extra PLC or motion controller.

But today I would like to share how to do that application with one of our standard CPU´s and ASDA-B servodrive controlled trough Step & Direction.
So in this case you can use the same program to control Servo systems, Steppers or even inverters.
The CPU´s able to interpolate two axis nowadays in Delta are: DVP-SA2, DVP-SX2 and DVP-SV.

Regarding the application, you can found how to connect the hardware in the following old post
Motion Control: HMI – PLC – B series Servo (1 axis movements)

And Regarding the Software, the keypoint is the DCIMA instruction.
check the following program
Pick & Place Example

And If you are still not fully convinced to use our PLC´s for Pick & Place.
Here is some video example of our system working!
Is not exactly a pick & place application, but uses the same instruction.

And don´t hesitate to Let us know about your experiences with Pick & Place

11

Hannover Mess 2012: HMI seminar

As we promise, for the people who could´t assist to the Munich Hall on Delta Hannover mess Seminar 2012.
Here attached the different new products presentations.

Different presentations in the order of appearance:

1. Press Conference Energy saving in IA
2. AMD Seminar – Hannover Messe 2012
3. ASD Seminar – Hannover Messe 2012
4. 10MC Seminar – Hannover Messe 2012
5. AH500 Seminar – Hannover Messe 2012
6. HMI Seminar- Hannover Messe 2012
7. ICD Seminar – Hannover Messe 2012

All presentations Folder

name: den-eindhoven
Password: BuPd2175

And for the ones who couldn´t assist, we invite you on the next SPS/IPC/Drive Messe in Nürnberg from 27-29 of November 2012.

0

ASDA-A2 and ASDA-B2 motor tuning procedure

As many of you should know, to tune a servo motor is not a piece of cake.
To have a good tune, you have to take care of the load, the inertia, the gearbox, etc..

To help you in this task, Delta provide different kind of tools.

1. ASDA-Sizing
This software is really useful to calculate the interta and the Torque needed of your system.
With this tool you can calculate the power of the motor needed and avoid bad experiences in customer’s hose

You can dowload it for free (as usual) on Delta’s web page.
But If you already installed ASDA Soft, check your computer, because probably it would be there.
ASDA-MSizing v1.04

2. Autotuning
Depending of the drive the ASDA-Soft have different autotuning tools.
On the video, we adjust (without load) some ASDA-B servodrive

On the other side, for the ASDA-A2 servodrives, our Service team, did the following PDF to help you in that task.
Simple TUning ASDA-A2&B2

Good tuning for everybody!

4

Announcement: ASDA-A2 three-phase 400Vac

I know… The announcement comes a little late, because probably some of you already have some of those devices in your Labs and/or Office.

But before wait for this device for such a looong time, we’re glad to announce it, even If it’s late!

You can download the official announcement in the link below, but basically those are the features of that 400 Vac A2 drives:

1. Broad power range available from 750W to 7.5kW.
2. Input power supply of all ASDA-A2 400V series servo drives is AC 400V (380V~480V), 3-phase.
3. An incremental 20-bit (1280000 p/rev) optical encoder is equipped.
4. The motor inertia is divided into three types: Low inertia (J), Medium inertia (K) and
Medium-High inertia (L). There are 80mm, 130mm and 180mm three kinds of frame
sizes are available. The motor speed is from 1500 r/min to 5000 r/min and the torque
output is from 2.39 N-m to 119.36 N-m.
5. Built-in flexible position register control mode (PR mode) is offered. 35 kinds of homing
modes and 64 internal memorized position settings are available.

ASDA-A2 400V (0.75Kw-7.5Kw) Official release

On the other side, If you want to start ordering to your Delta provider, I recommend to take a look to the next Excel Ordering guide, very helpful to don’t make mistakes choosing the proper wiring

ASDA Ordering Guide

2

Motion Control: HMI – PLC – B series Servo (1 axis movements)

There are several ways to control one axis.
But If you need to control position (no speed or torque), the Step & direction way is normally the simplest and cheapest way.
The other advantage is that you don’t have to rack one’s brains thinking if that protocol is going to work or not, Step & direction is universal.

So our intention in this post, is show you the Delta PLC tools to control one axis trough step and direction:

Hardware:
As always the first is how to connect everything.
To communicate PLC and HMI you can check the HMI – 3 PLC Communication Example.
And to know how to connect the B series servodrive with out CPU, just follow the next Schem. (click on the picture to see it bigger)

Configuration:
Basically the configuration of the servo consist in match the servo inputs of the diagram with the internal configuration, but for better comprehension please check this video
Or simply download the configuration file Step & Direction

Software:
Once the hardware and configuration are finished, then you only need to download the following examples of HMI and PLC programs.
In this examples we use three kind of movements:

Relative Movement (DDRVI): We can move our servo some distance without saving any reference. (very useful for moving trays)
Absolute Movement (DDRVA): We can move our servo some distance always having reference where the home is (very useful for linear positioning applications)
Speed Movement (SPD): To mantain the servo in a constant speed. (useful on material handling applications)

One Axis Movements

All the Delta servo drives (and some inverters) have the possibility to manage them trough Step & Direction

Updated: Extended features for DDRVI and DDRVA instructions on the latest firmware versions.
Check the next link

3

Hannover Messe A2 motion demos 2

To finish the presentation of the motion Demos of the Hannover Messe, I give you the 2 other demos left.

First the Demo of a 4 axis of A2 servos controlled by DVP20PM, and our new vision system who recognize the value and the position of the dice.

We call it the automatic Gambler

And Finally the Demo of the new DMCNET system.
One Embeded PC with our DMCNET card, who is able to control with sincronization 12 axis!
Furthernore 3 of those 16 axes are linear motors, and they work with Delta A2 drives (in the future we explain our secret).
And of course all communicating trough CANOpen DS402, even those Remote I/O’s.

DMCNET presentation on Delta electronics website.

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