Mach3 Servo Motor Tuning

[johnansaro]

Hi there

Is there such thing as motor tuning for servo motor in mach3 Dialog?

If it is, what would be the value for the steps per unit? this is a Delta 750 W, with a 10:1 GearBox

And I would like a maximum speed of 12000 mm/min, what is the best value for my acceleration?

any recommendation, or reading on this issue is greatly appreciated.

regards
jhonansaro

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[jalessi]

Jhonansaro,

I am guessing that the Delta Drive Tuning sets the drives maximum acceleration and taking those numbers and using them in Mach3 would be your best option.

Jeff..

[johnansaro]

Hi there

Following are a copy of specification from the Delta Spec. I am also attaching a copy of the file itself.
It is kind of vague to me.
What is the Encoder value exactly?
What is the speed and acceleration?
what is the meaning of electronic gear ratio? is it the same of Gear Box ratio?


ASDA-B2 Series
100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW
01 02 04 07 10 15 20 30
Power Supply
Phase / Voltage
Three-phase 170 ~ 255 VAC , 50/60 Hz ±5% Three - phase
170 ~ 255 VAC, 50 / 60 Hz
±5% Single-phase 200 ~ 255 VAC , 50/60 Hz ±5%
Input Current (3PH)
(Units: Arms)
0.7 1.11 1.86 3.66 4.68 5.9 8.76 9.83
Input Current (1PH)
(Units: Arms)
0.9 1.92 3.22 6.78 8.88 10.3 - -
Continuous Output Current (Units: Arms)
0.9 1.55 2.6 5.1 7.3 8.3 13.4 19.4
Cooling System Natural Air Circulation Fan Cooling
Encoder Resolution 17-bit (160,000 p/rev)
Main Circuit Control SVPWM (Space Vector Pulse Width Modulation) Control
Control Mode Auto / Manual
Regenerative Resistor None Built-in
Position Control Mode
Max. Input Pulse Frequency
Transmitted by differential: 500 K (low speed) / 4 Mpps (high-speed)
Transmitted by open-collector: 200 Kpps
Pulse Type Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source External pulse
Smoothing Strategy Low-pass filter
E-gear Ratio
Electronic gear N/M multiple N: 1 ~ (2
26
-1) / M: 1 ~ (2
31
-1)
(1/50 < N/M < 25600)
Torque Limit Operation Set by parameters
Feed Forward Compensation Set by parameters
Speed Control Mode
Analog Input
Command
Voltage Range 0 ~ ±10 V DC
Input Resistance 10 KΩ
Time Constant 2.2 μs
Speed Control Range
*1
1:5000
Command Source External analog signal / Internal parameters
Smoothing Strategy Low-pass and S-curve filter
Torque Limit Set by parameters or via analog input
Bandwidth Maximum 550 Hz
Speed Accuracy
*2
±0.01% at 0 to 100% load fluctuation
±0.01% at ±10% power fluctuation
±0.01% at 0
o
C to 50
o
C ambient temperature fluctuation

[jalessi]

Jhonansaro,

Use the Delta Drive Tuning "ASDA Software" to optimize the servo motor, then the reported settings may be entered into Mach3.

Some conversion calculations may be required because the numbering format may be different between the Delta software and Mach3.

You may not see visible Acceleration changes in Mach3 unless the Acceleration is set much higher than normal due to the enhanced performance of your servo motor.

Jeff...

[johnansaro]

Hi jalessi

Thanks for the reply.

i already know about that Software and/or mach3 automatic setting per unit procedure.

But What I like to know for example from the Delta Spec. that I have attached is that, What would be my QCPR value? Is it the value of 160000 P/Rev for the Spec?

Or How can I calculate it from the Spec.? I would like to figure out my Max. rapid speed from Knowing the QCPR, and the Value of my kernel Speed of 35000?

And what is the value of my Electronic Gear Ratio? and how to get it?

Regards
Jhonansaro

[jalessi]

Jhonansaro,

Adjusting the electronic gear ratio is done so you can reduce the pulse count output of Mach3.

The encoder has 160,000 pulses/rev so when commanding the
movement will be barely visible.
The solution is to reduce the amount of steps needed for one revolution. This is done with the Electronic
Gear ratio
Parameter P1-44 and P1-45 determine this ratio
Standard its set to
P1-44 16
P1-45 10
To get less steps/rev use for example
P1-44 1600
P1-45 10
Now you will have 1000 steps/rev of the servo motor.

[johnansaro]

HI jalessi

Thanks again for the reply.

Ok, From what you said I need 1000 step per Revolution, and If I have a Gear Box of 10:1 ration, Then I believe I need 10 000 steps per revolution. (please correct me if I am wrong)

and if I have 25 teeth pinion with 7 mm pitch dist. Then I would get 175 mm per revolution, Then My Step per unit in mach3 would be like about 57 steps per unit. (again please correct me if I am wrong)

Also Could you tell how did you get your 1000 steps/revolution from
P1-44 1600
p1-45 10
encoder at 160,000

is it like 160,000/1600*10 ?

Regards
jhonansaro

[jalessi]

Johnansaro,

160,000/1600*10 Yes this formula is correct.

I did not say you need 1000 step per revolution, it is an example of how the electronic gearing works.

Set the gearing to the most beneficial setting so that Mach3 can provide the pulses needed to run your machine at the desired maximum feed rate.

In other words Mach3 has a limitation of the pluses "Kernel Speed 100000 KHZ" it can output which in turn limits maximum feed rate, in order to get around this limitation add or manipulate electronic gearing settings to increase travel per pulse.

Jeff...

[johnansaro]

Hi Jeff

I know you did not say that, all I was doing is to follow your example, and I wanted to know that based on your assumption or example, was I doing the right math?

as mater of fact knowing that the max speed of servo are a bout 4000 rpm, and possibly the safest max is around 3200 rpm (That 10000 rpm in my previous reply is way to high)

I will get a value of about 18 step per unit for my mach3 motor tuning, which could yield me a max speed of 56000 mm/min, off course a max speed of 12000 mm/min for my mach3 is high enogh.

the value of
p1-44 should be 5000,
p1-45 should be 10
for encoder of 160,000

Could you verify these math for me/

regards
jhonansaro