How to Use the Software of A6 Series Servo?

Preparation

A set of A6 series servo products with motors and drives already connected;
The following is the power wiring of A6 drivers with different powers for your reference.



A6 debugging software, please download at https://www.omc-stepperonline.com/index.php?route=product/product/get_file&file=5068/A6%20Debug%20software.zip
Cables required for debugging. Available for purchase through this link https://help.stepperonline.com/en/article/how-to-choose-the-correct-type-c-debugging-cable-for-a6-series-servo-motor-1q6lhtc/
A computer running the Windows 10 operating system

After the software is downloaded and installed, first plug one end of the debugging cable into the CN6 interface on the top of the drive, and the other end into the USB interface on the PC. After the drive is powered on, click the AncDeviceStarter icon. The initial interface is as follows:

Software Operating Language Switching

The default initial language of the software is Chinese. If you need to switch to the English version, please first click "General" - "Multi-language Settings" - drop down to the "System Default Language Menu", select "English" - and finally click OK to switch the language successfully. After successful modification, it is best to restart the software.

Software Connection Instructions

Open the "Project" interface
Click "Project creation" and the Project Property window will appear;
Find the serial port menu, pull down and select the correct serial port (note: usually the initial serial port of the software is incorrect and needs to be reselected)
Click "Begin scanning". When the progress bar below is full, the drive model will appear and has been checked (tip: if the drive model is not displayed, it means the serial port selection is incorrect, return to the previous step and select again);
Click "OK". After successful connection, as shown in the figure below, the drive is online;



At this point, the driver and software are successfully connected.
The main functions of the software are distributed as follows:



Next, we will focus on the use of some functions of the software.

JOG Trial Run

In order to test-run the servo motor and driver, you can use the software's JOG function (speed JOG/position JOG) to confirm whether the servo motor can rotate normally and whether there are any abnormal vibrations and sounds during rotation.

Speed JOG

To test-run the servo motor and driver, you can use the software's JOG function (speed JOG/position JOG) to confirm whether the servo motor can rotate normally and whether there are any abnormal vibrations and sounds during rotation.



Select speed JOG and click to open the interface;
Here you can modify the speed and acceleration and deceleration of JOG operation, please set according to actual needs;
After setting the speed and acceleration and deceleration parameters, turn on the enable switch, as shown below:



After the enable is successfully turned on, the two buttons below will light up. At this time, you can test: a single click on the button is a jog, and the motor will rotate counterclockwise once; long press the button, and the motor will continue to run;

It should be noted that if the enable is suddenly disconnected after the jog button is pressed during use, the drive will appear offline and return to normal after a power outage and restart. Don't worry, the source of the problem lies in the debug cable you are using. So, what kind of debugging cable should be used? After many tests, we summarized this article for your reference:
How to Choose the Correct Type-C Debugging Cable for A6 Series Servo Motor?

So, is there an easier way to perform JOG testing? Of course, there is. The panel buttons of the A6 driver provide more convenient operations:



See page P185 of the manual for details.

Position JOG

Position JOG is a relatively complex test function. The interface after opening is as follows:



Function button;
Parameter modification area;



The first line: Running speed, you can set it as needed

The second line: Displacement. As the name suggests, this is the distance that the motor moves. For example, the default 20000 in the picture indicates the distance of each rotation of the motor. You can see the amount of change each time in the "Absolute Position Feedback" in the running status area in the lower right corner of the software. Every time the motor moves, the value here will increase by a single data of 20,000.



The third/fourth line: Electronic gear ratio numerator and denominator, see manual Figure 4-13 for details.



The important thing to note here is that the numerator represents the resolution of the encoder. As shown in the figure, the default value of the software is 8388608, which is the resolution of a 23-bit encoder, and our A6 is 17 bits, so the value needs to be set to 131072. Otherwise, a single increase in the data in the absolute position command feedback will be 1280000 (20000*2 to the 6th power), which will cause some confusion. As for the denominator (number of pulses per revolution), just keep the default value.

The fifth line: acceleration and deceleration, you can set it as needed;

The sixth line: Intermediate pause time, refer to the following

Operation mode selection;
Open the drop-down menu and you will see 6 optional operating modes.



The "+count1/2" at the end of the mode name indicates the number of runs, which is set in the next line. Simply put, whether you need to change from forward to reverse, from reverse to forward, from M times to reverse, from M times to N times, or only forward or only reverse, all of these can be achieved.

Selection of the number of runs;
This is the choice of the number of runs, you can set it as needed.



Number of runs and Number of runs 2 can be set arbitrarily and do not have to be the same. As for the infinite running mode, after checking, the motor will continue to run.

Enable and start/stop buttons;



This is the area that controls the start and stop of the motor. First turn on the enable button, then click "Start", and the motor will run in the set mode.

Running status display;



As shown in the figure, the running time, status and number of completed times will be displayed here.

Operation curve reference;
When the motor finishes running in the specified mode, a simple reference curve will be updated here.

Automatic Recognition of Inertia

A6 provides you with a very convenient automatic inertia recognition function. You only need to click a button to easily set the inertia that is most suitable for the current load. For relevant knowledge about inertia, please refer to the article below.
What is the Inertia and Inertia Ratio of the Servo Motor?



Click "Tuning";
Find "Inertia identification" and click on it.
Indicates the current inertia of the motor, usually 1. This value is very small and needs to be reset.



As shown in the figure above, this is the adjustment interface for inertia self-recognition. You can set parameters such as rotation speed/acceleration during the recognition process. For situations where the load is simple, it is recommended to use the default value; for situations where the load is more complex, it is recommended to increase the default value.



After confirming the parameters are correct, click "Start Auto-tuning" and the motor will start to recognize. If the recognition is successful, the pop-up window shown above will be displayed.



Now we return to 3. After successful recognition, the specific value will be displayed. Click "Setting" directly, and the inertia will be set successfully.
As for other settings in the Tuning interface, please refer to the gain adjustment instructions in Chapter 6 of the manual.

Fault Management

In order to facilitate you to handle faults in real time, the A6 series has a separate fault management interface. Once the drive fails, you can quickly find the cause and handle it in time.


As shown in the figure, first click Fault Management:
The alarm code will be displayed here, which is consistent with the driver panel;
Here, you can see the cause/confirmation method and solution of the fault;
It should be noted that some faults can be reset in real time, and some faults need to be cleared by restarting.
If you also want to know other fault symptoms of the drive, you can further open the "Fault Dictionary"



After opening the "Fault Dictionary", please select the drive series (RS/EC/PN) first. After the drive series is determined, you can click on the fault list, which will display all the faults built into the drive. For each fault, we have listed the specific manifestations/how to confirm and the solution for your reference!

Parameter Modification

First, we upload the motor parameters first. This step is to ensure that the parameters are accurately modified.

Open the motor parameter interface;
Select to upload all parameters. When the progress bar at the bottom is full, the upload success pop-up window will appear.



Open the parameter management interface
This is the classification of each parameter group to facilitate finding the required parameters;
This is the parameter setting column. All modifications can be made here. What follows is the set parameter value and default value column, which is convenient for you to compare and modify.
This is the prompt bar we specially prepared. Here you can see the properties of the parameter modification that take effect:
Modification method: indicates which parameters can be modified while the motor is running, and which parameters need to be modified after the motor stops running.
Validation method: Effective immediately means that the current parameters will be executed immediately after modification. Power on again means that the drive needs to be restarted to take effect.

Here is a small tip to facilitate you to refer to parameter changes more intuitively.

Now, we take the C00.00 control mode as an example to modify the required parameters.



First enter the settings bar and select the required operating mode in the drop-down list. Here we select 1, which is speed mode;
After selecting the value, it will be checked by default. At this time, we only need to click "Write Selected"



As shown in the figure, the parameters have been modified successfully. You can refer to this step to modify other parameters.
The above is a brief guide to the A6 debugging software. This document will continue to be updated in the future. If you have any doubts during use or want to add instructions for a certain function, please feel free to contact us and we will serve you wholeheartedly!

Updated on: 28/02/2025