Jon Elson wrote: >Frank Tkalcevic wrote: > > >>I have a pair of Yaskawa servo motors and drivers (servopaks) to run my >>lathe. They are the Speed/Torque variety and I'm driving them with a mesa >>analog driver, providing +/-10v. I'm unsure of how to tune my system, as >>the servopaks have a collection of tuning parameters (and auto-tune >>procedure), as well as the tuning of emc. I'm struggling to get the system >>stiff, and stop the small oscillations at the same time. >> >>Can anyone suggest a plan of attack? How should I be setting up the >>servopaks? >> >> >> >There is a setup program available from Yaskawa. In their manual, they >give details of how >to make a cable to connect a PC's serial port to their serial >connector. No converter is needed, >just the correct wiring. > >Since the control loop is handled by the Servo Pak, you need very little >gain (P) and the same >for I and D. You specify velocity from EMC, and the Servo Pak does it >exactly. > > Note that FF1 should be 1.0, if your DAC scaling is correct. Add a very small P and maybe I and D (even smaller), and you should be good to go. This is assuming that you use them in velocity mode, not torque mode. For torque mode, you should need FF2 to be 1.0 (I think), but I'm not sure what else needs to change.
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