CKD AxTools servo debugging software (EboDEX)

CKD AxTools servo debugging software (EboDEX)

In the field of modern industrial automation, the performance of servo drive systems directly determines the production accuracy and operational stability of equipment. CKD Corporation's EboDEX series drivers (TS, TH, MU, XS, and other models) are widely used in semiconductor manufacturing, packaging machinery, robot joints, and other scenarios due to their high-precision positioning and flexible programming capabilities. However, to achieve optimal matching between the driver and the load, professional debugging tools such as AxTools are indispensable.

AxTools is a specialized software based on the Windows environment (supporting Vista to 8.1), used for parameter reading and writing, program editing, gain optimization, vibration suppression, and real-time monitoring of AVODEX drives. This article will systematically explain how to use AxTools to complete a complete driver debugging and troubleshooting process from the perspective of an engineer's practical operation. Whether you are using it for the first time or want to delve deeper into advanced features, this article will provide practical solutions.

Preparation work: Construction of communication link

2.1 System and Environmental Requirements

Before starting any debugging work, please confirm that your PC meets the following conditions:

Operating System: Windows Vista/7/8/8.1 (Note: 64 bit systems have good compatibility, but it is recommended to close other software that occupies the serial port)

Hardware: Equipped with a usable RS-232C serial port (or through a USB to serial port adapter)

Special cable: Use CKD original model AX-RS232C-9P or make according to the following pin definitions (D-sub 9-pin):

PC end (DOS/V model): 2-RD, 3-SD, 5-SG

Driver end CN1:2-SD, 3-RD, 5-SG, pins 7 and 9 are suspended (used for dialogue terminals, misconnection may damage the driver)

Caution: It is strictly prohibited to plug or unplug cables or power off the drive during communication, otherwise it may cause abnormal AxTools or drive programs.

2.2 Initial Connection and Port Settings

After starting AxTools, first enter the 【 Set 】 tab (Settings tab). In the 'Communication port' group:

Click on Setting and select the COM number (such as COM3) that actually corresponds to the PC from the drop-down list.

Click Connect to open the serial port. If the status bar displays "OK", it means a physical connection has been established with APPRODEX.

Click Update to refresh the information, and the software will automatically recognize the drive model, serial number, and I/F specifications (parallel I/O, CC Link, PROFIBUS, EtherCAT, etc.).

Common faults: If "[-]" is displayed or the connection fails, please check if the cable pins and COM number are occupied by other software (such as PLC programming software), and confirm that the driver is powered on and not in an alarm state.

Quick Start: Software Interface and Core Features

AxTools adopts a ribbon menu layout similar to Office, mainly divided into five tabs:

Overview of tab functions

Home file creation/opening/saving, window arrangement, quick jump to various debugging modules

Set communication port settings, fieldbus configuration, language selection, and driver information viewing

Tuning gain automatic/manual adjustment, vibration suppression filter (AI Filter) adjustment

Edit NC program writing, parameter editing, point table setting, data comparison and storage

Monitor I/O signal real-time waveform, speed waveform acquisition, FFT frequency analysis

In addition, the application button (top left corner) provides functions such as printing and exiting; The Quick Access toolbar allows customization of commonly used commands.

One of the core debugging tasks: gain tuning

The goal of gain tuning is to make the servo system respond quickly and stably to commands without overshoot or oscillation. AxTools offers three modes: AI gain auto tuning, semi-automatic tuning, and manual tuning.

4.1 AI gain automatic tuning (applicable to TS/MU/XS models)

AI gain tuning automatically evaluates multiple PID parameter combinations and provides ratings by allowing the motor to move along a specific trajectory, recommending the optimal value.

Operation steps:

Switch to the [Tuning] tab and click on AI Gain.

Set in the pop-up dialog box:

Motor operation: Set the motion time (e.g. 0.5 seconds) and angle (e.g. 90 degrees). The software will automatically generate a temporary NC program.

Program number: Specify two consecutive idle program numbers (such as 998 and 999), which will be automatically deleted after tuning is complete.

Adjustment area: You can select the "specified area" - check the gain combination that needs to be optimized in the G1/G2 matrix table (G1 and G2 are the corresponding values of the dip switch on the driver panel, 00 represents the use of parameter 101/102).

Detail setting: Advanced options include cam curve (MS/MT/TR), adjustment mode (speed priority/accuracy priority), whether to enable PRM67/PRM72 integration parameters, and vibration amplitude weights for positioning completion determination.

Click OK, the motor will start reciprocating motion, and the software will collect waveforms in real time and calculate the score (out of 100).

After the adjustment is completed, a "Point Table Results" dialog box will pop up, with blue cells representing the G1/G2 combination with high scores. Select a row and click Apply to write to the drive.

The new parameters can only take effect after disconnecting and reconnecting the power supply to EboDEX.

Safety reminder: Do not touch the motor or load during AI tuning to ensure there are no obstacles within the range of motion. If an exception occurs, click Cancel to restore the original parameters.

4.2 Auto Tuning and Semi Auto Tuning

For TS/MU/XS models, simpler automatic tuning can also be used:

In [Tuning] → Tuning, set the "Response Value" (1-32, the higher the rigidity, the stronger) and "Friction Load Compensation".

Click on Tuning Start, the motor will oscillate slightly and automatically calculate the gain.

If the G1/G2 of the drive panel is not 00, it will prompt to dial back to zero.

Semi automatic tuning is suitable for fine tuning after automatic tuning: manually enter the servo gain value in the Semi automatic dialog box, click Start, observe the speed waveform, and repeatedly correct until the waveform is smooth.

4.3 Manual parameter adjustment (Edit tab)

When it is necessary to directly modify PID parameters:

Go to [Edit] → Parameter setting, note: first execute "Reading" to read the current parameters of the drive to the editing area, otherwise it will display blank.

The parameters are divided into multiple pages (1-20, 21-51, I/O settings, 62-89, etc.). Common gain related parameters:

PRM67: Integral limiter

PRM72: Integral gain multiplier

PRM101/102: Gain 1/2 (MU type only)

Check the checkbox after each parameter, and then click Storage to write to the drive.

Core Debugging 2: Vibration Suppression and Digital Filter

When the rigidity of the load is low (such as belt drive, long cantilever structure), AVODEX is prone to resonance during high-speed start stop. AxTools provides low-pass filters (LPF) and notch filters (Notch Filter) to suppress vibrations at specific frequencies.

5.1 AI Filter Automatic Adjustment (TS/MU/XS Type)

This is the most convenient way:

【 Tuning 】 tab → AI Filter Adjustment.

Select the filter application mode:

Simultaneously using LPF and Notch (recommended)

Only LPF

Only Notch

Click on the Detail setting for detailed configuration:

Low pass cutoff frequency: can be fixed at 100Hz (safety priority), 200Hz (regular), 300Hz (response priority), or a custom value.

Upper and lower limits of notch frequency: for example, 50~500Hz.

Q-value (bandwidth): can be fixed or automatically calculated.

Resonance judgment criteria: strict (Many), normal (Normal), loose (Few).

Click OK to initiate the adjustment. The software will cause the motor to emit a random sweep frequency signal, analyze the resonance peak through FFT, and automatically set PRM62~65 (frequencies of two LPFs and two Notchs) and PRM70/71 (Q value).

After completion, the set values of each filter will be displayed, and clicking confirm will also require re powering on.

5.2 Manual FFT Analysis and Damping Adjustment (Monitor tab)

For experienced engineers, frequency response can be manually analyzed and filters can be set:

Switch to [Monitor] → AxFFT Function.

In the "Filter setting", enter the test gain (usually 500), check the filters to be enabled (up to three), set the notch frequency and Q value.

Select Test Mode Start, the software drives the motor to generate a random signal, and displays the gain frequency curve (logarithmic coordinate) in real time.

Observe the bulge (resonance peak) on the curve and record its frequency (e.g. 228Hz).

Click on 'Set filter' and fill in the frequency for Notch Filter 1 with a Q value of 1.0. Retest until the curve smoothly decreases (ideally -20dB/dec).

You can also enable Filter Response to preview the effect of the filter acting alone.

Attention: The low-pass cutoff frequency should not be lower than 80Hz, otherwise it may cause system instability. If the resonance is very severe, the mechanical structure should be reinforced first.

Program and Parameter Editing (Edit tab)

6.1 Three Editing Methods for NC Programs

AxTools supports three programming modes: standard NC code, equal segment program, and table program.

1. NC code editing

Click on Program → select program number (0~999).

Support G code (positioning, continuous rotation, return to origin, coordinate system setting, etc.) and M code (program stop, subroutine call, brake control, I/O output).

Common command examples:

G01 A90.0 F10- Absolute positioning to 90 degrees at a speed of 10rpm

G07 A+50- Clockwise 50rpm continuous rotation

G04 P0.5- Pause for 0.5 seconds

M98 P100- Call subroutine 100

After completing the input, click Confirm and the program will be saved in the editing workspace.

2. Segmented program

Used for scenarios such as rotating indexing tables: setting the number of segments (1-255), each segment's motion time, direction, starting position (origin or current value), etc., the software automatically generates equidistant motion commands.

3. Table program

In terms of behavior units, each line can select "rotation command", "segment command", "return to origin", "coordinate system setting", etc., to set the target value, speed/time, and next line jump number. Supports copying, inserting, and deleting rows, similar to PLC's step ladder diagram.

6.2 Parameter Editing and Security Mechanisms

Before modifying any parameters, it is recommended to execute Reading → All data to backup all programs, parameters, and point tables in the drive to the PC. After editing is complete:

Use the Comparison function to compare the data in the editing area with the data in the drive, and the differences will be highlighted in red.

You can choose one-way copying (from drive to editing area, or from editing area to drive).

When executing Storage, confirmation boxes will pop up one by one, asking whether to overwrite existing program numbers.

Important: If the drive model in the editing area does not match the actual connection (for example, if you open an old TS file but connect it to a MU file), Storage will fail. At this point, it is necessary to first use the Change driver type to convert the parameter mapping (supporting conversion between eight models: TS/TH/MU/XS/GS/S/GH/H). After conversion, some parameters may be marked as "NG" or "N/A" and need to be manually re entered.

6.3 Origin offset setting

Two ways:

Manual rotating motor: In the servo OFF state (pay attention to safety and prevent the load from falling), jog the motor to the target mechanical position, and the software automatically calculates the offset.

Using the current position as the origin: First, run the motor to the ideal origin position in the servo ON state, and then execute this command to set it with one click.

The origin bias value is saved in the non-volatile memory of the driver and takes effect after powering on again.

Real time monitoring and troubleshooting (Monitor tab)

7.1 I/O signal waveform monitoring (Axio Function)

When it is necessary to check whether the external input and output (limit, emergency stop, start signal) are normal:

Click Axio Function → Monitor start.

Set the sampling frequency (up to 3000 times, input 999 for continuous).

Real time drawing of I/O status diagram (high and low levels) by software. Up to 21 signals can be selected, supporting normal mode (equidistant) or real-time mode (based on actual signal duration).

Drag and drop with the mouse to measure signal duration; Right click to display the time interval.

This function is particularly effective for debugging communication abnormalities in fieldbus such as CC Link.

7.2 Speed waveform acquisition (AxSpeed Function)

Used for observing acceleration and deceleration curves, steady-state errors:

Click AxSpeed Function → Set monitoring length (e.g. 500ms).

Choose single oscilloscope or dual oscilloscope mode to display both speed (green) and displacement deviation (yellow) simultaneously.

Click on Acquire waveform to trigger acquisition (applicable to motion in pulse train input mode).

The waveform chart supports scaling, cursor reading, and filtering smoothing. Up to 10 waveforms can be stored for comparing the effects before and after tuning.

7.3 Common alarms and resets

The Operation command in the Tool group can be used to execute tasks such as servo ON/OFF, program start/stop, single step operation, alarm reset, brake control, etc.

Alarm reset can clear the current alarm, but it should be noted that the servo may automatically power on after reset, and it is important to confirm safety.

If encountering an alarm that cannot be cleared (such as overload, overvoltage), the factory settings can be restored through APPRODEX initialization (note: this will erase all user programs and parameters).

Advanced features and practical skills

8.1 Terminal Mode

When the software interface cannot meet special requirements, it can enter terminal mode and directly send communication codes (ASCII format). For example, manually sending 'read current coordinates'. This mode also retains the last 100 historical records for easy retransmission.

8.2 Fieldbus Settings

For drivers equipped with CC Link, PROFIBUS, DeviceNet, EtherCAT, or EtherNet/IP interfaces, set the station number, IP address, etc. in 【 Set 】 → Field Bus setting. These parameters must be consistent with the main station configuration, otherwise communication will fail.

8.3 Data Backup and Recovery

File saving supports multiple extensions:. axa (fully integrated, recommended),. axw (waveform),. axs (speed),. axf (filter),. axi (I/O),. txt (NC program only).

It is recommended to save an. axa file after each debugging process and export the ACCODEX information (【 Set 】 ->ACCODEX information ->Save). The file should be in plain text format and can be viewed with Notepad for drive model, serial number, alarm history, etc.

Typical troubleshooting cases

Case 1: Unable to connect to drive

Check if the COM port is occupied (such as Mitsubishi PLC software).

Check if the cable is crossed (2-3 crossed, 5 straight connected).

Check if pins 7 and 9 of drive CN1 are suspended.

Case 2: AI gain tuning error reported midway

The reason may be that the range of motion exceeds the limit or the position deviation is too large. Solution: Increase the "upper limit of position deviation" or decrease the motion angle in the Detail setting.

If the alarm is "servo OFF", please manually perform servo ON first.

Case 3: Motor vibration becomes more severe after filter adjustment

Perhaps the notch frequency was set incorrectly, mistakenly setting the gain attenuation point near the resonance peak as the gain enhancement point. Perform AI Filter adjustment again, or manually shift the Notch frequency by ± 10Hz for testing.

Case 4: The edited program cannot be stored

Confirm that the driver is not in pulse input mode (M6). The mode can be switched to automatic operation mode by operating commands.

Check if the program number is already occupied and if 'overwrite' is not checked.