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TB231 Rev3 Delta AB and A2 Drive Setup for CNC11 Systems
This document describes how to setup the Delta Servo drive parameters for use with a CNC11 system running a GPIO4D or Optic4
The Delta drive should be setup first based on the following table of parameters After the parameters are set a Jog trial should be
done to make sure the drive can run the motor correctly
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Modifying Delta drive parameters
Press the MODE
key to enter parameter mode
Press the SHIFT
key to select the parameter group you need
Use the UP
 and DOWN
keys to select parameter numbers
Press the SET
key to enter the parameter
Press the UP
or DOWN
keys to change the parameter value
Press the SHIFT
key to shift the cursor to the left one place
Press SET
to save the parameter or when finished press MODE
to exit parameter mode
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Delta A2/AB Drive Parameters
P02 10 101 DIO1 Drive Enable
P02 11 0 DIO2 not used
P02 12 0 DIO2 not used
P02 13 0 DIO3 not used
P02 14 102 DIO5 Reset Servo Drive
P02 15 0 Disable + limit switch
P02 16 0 Disable limit switch
P02 17 0 Disable EMGS function
P02 21 108 DO4 Motor Brake Output
P02 66 4 Auto reset Undervolt error
P01 00 0 Encoder is AB Pulse output
P01 01 2 Velocity Mode control
P01 40 * Motor Max Commanded RPM
P01 41 200 Max Analog Torque command
P01 46 1 40000** Encoder output pulses**
P01 55 * Max allowed RPM of motor
*Important
The value for Parameter 01 40 should be set to 10% over the max rate that CNC11 will command at 10VDC on the analog
output This means that if the motor will be commanded at 3000 RPM this parameter should be set to about 3300 RPM Also
Parameter 01 55 should be set about 5% above Parameter 01 40 or 3450 RPM in this example to avoid issues at max rate This
parameter sets the absolute max rate the motor is allowed to spin
** 1 is the default output value for the Delta AB drive encoder emulation output On the AB drives leave this parameter at 1 to get 2500
ppr or 10000 counts per revolution On the A2 drives set this parameter to 16384 ppr to get 65536 counts per revolution
Some of these parameters cannot be set when "Drive Enable" is on A message flashes after pressing SET
if the Delta drive inhibits
the parameter change
There are some parameters that will not take effect until the servo drive is restarted It is recommended to restart the servo drive after
parameters are changed Please refer to the Delta servo drive operator manual for more details on the parameters
To reset all parameters to factory default change P02 08
to 10
and save then power cycle the drive
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JOG trial run with Delta drive
This is a test of the Delta drive using the internal jogging commands CNC11 is completely out of the loop at this point in
the test
Warning
The motor should be secured before running this trial One option is to mount it to the machine but leave the
motor shaft uncoupled There should not be a load on the motor for this test
First the drive must be enabled The recommended way is to remove CN1 and release E Stop from the drive and set P02
30
to 1
which forces the drive to be enabled regardless of the Enable input
Note P02 30
is reset when the drive is powered off
Set P4 05
to the desired speed of the motor in RPM Press the UP
or DOWN
arrow keys to set the desired jogging speed
Note
this parameter can only be set when Drive Enable is on
Press SET
to enter jogging mode The LED display shows "JOG" after the SET
key is pressed
Press the UP
key for CCW or DOWN
key for CW
Once the trial is complete push the MODE
key to exit jogging mode
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Auto Tune Delta drive to load
The Delta drives should be tuned to the actual load that they are driving to allow the best control and smoothness of operation The
information here is a quick setup guide to the tuning proceedure used for the Delta drive It is not meant to be an exhaustive treatment
of tuning and specifically does not cover using the keypad to tune the drives as it is much less automated than using the PC software
See the Trial Jog and Tuning chapter in the appropriate Delta manual for instructions on how to tune the drive with the keypad and a
detailed explanation of what the parameters affect
**Note Images forthcoming
Download the correct version of Delta's Software for the drives you are using Version 4 03 is for ASDA A2/B2 drives and
3 02 is for ASDA AB drives This link goes to the download page for Delta software Unzip the file to a folder and run the
setup exe file
Connect a USB A to USB B cable to a PC running Windows XP/Vista/7 and a Delta drive The USB driver should
automatically install Open the ASDA Software and Click OnLine then Connect if a device shows up
Make a backup of the parameters before modifying anything on the drive
Start Auto Gain tuning menu and Enable Auto Gain Tuning Download the preset values and click Enable Amp Jog with
the arrow keys back and forth setting position 1 and 2 as far apart as possible but within the intended software travel limits
Click Start and the motor will move back and forth to determine the estimated Inertia for the system Let the move occur 5
10 times before stopping the move and clicking the Set J button This calculates parameters that then appear on the left
Download the values and then increase the jog speed from 200 RPM to 500 RPM and repeat the proceedure increasing
the speed until it is at the maximum that will be run on the system This is typically 2000 3000 RPM
Once tuning is done at the maximum rate try increasing the bandwidth by 10Hz at a time until high frequency oscillations
are heard Back off until they disappear and the drive tuning is complete
Open the Parameter menu and re apply what is found in the amp Save a copy for future use if the drive is ever replaced
Integration with CNC11
Now we are ready to put the whole system together
Wire the Delta drive into either the GPIO4D or Optic4 based on the following schematic All that is technically required to
make the motor turn is Drive Enable and analog voltage
Enter the correct motor counts/revolution in the Motor Parameters screen
Check that the motor encoder counts count down when the motor is turned CW when looking at the shaft If the counts do
not go down then the A and B channels are swapped coming into the encoder header Direction reversal will not fix this
problem
Enter the Drive Map parameters based on which drive is being used from the table in the User's Manual
Enter PID values for Torque or Velocity Mode
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 Velocity Mode Torque Mode
Kp 0 04 4
Ki 0 0006 0 0156
Kd 0 12 5
Limit 2560000 100000
Kg 0**** Â
Kv1 80 Â
Ka 0**** Â
Accel 0 3 0 3
****warning
Do no change Ka and Kg away from zero in velocity mode While the Scope Tuning screen may show an improvement
adding Ka and Kd cause very erratic motion when arcs and spindle slaved moves are commanded
The given PID values require CNC11 V3 03 Rev 61 and later
Check the values by running gathers and optimize Kv1 Kp Ki and Accel time if apropriate for the control mode
Note that the tuning values will vary according to the set max rate in the drive and CNC11 If they are changed the PID
must be re tuned
Continue with standard machine integration This should include testing the fault output from the Delta drive to make sure
CNC11 throws an error You need to determine if a drive fault from the Delta drive can be recovered from with a simple E
Stop cycle We recommend not allowing that because something is seriously wrong with the Delta drive if a fault occurs and
needs to be investigated
The PID vaules will change when the encoder counts per revolution change These values are only valid for the specified
encoder counts listed above
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Resonance Supression
If there is a sustained resonance whether at hold or during motion of some kind the Delta drive has a parameter P2 47 that can
detect this resonance and damp it out Reproduce the resonance and then change P2 47 to a 1 and hit the SET key If the drive can
suppress the resonance it will be done right away
 Diagnostics
Parameter P04 07
can be displayed on the parameter menu to show the state of the Digital Inputs The lowest bit is one when DI1
is
set and the highest bit is one when DI7
is set Checking this parameter will tell if the Fault Reset or Drive Enable signals are being set
Similarly P04 09
can be displayed to show the state of the Digital Outputs Bit 2 shows the state of the fault output signal going to the
Centroid part of the system
Optic4/GPIO4D schematic
**Coming Soon**
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Document History
Rev3 Created on 2010 11 09
by #297
Rev2 Created on 2010 07 12
by #297
Rev1 Created on 2010 02 11
by #297