> -----Original Message----- > From: Stephen Wille Padnos [mailto:[email protected]] > Sent: Friday, 12 June 2009 2:51 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Servo tuning > > 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.
Thanks for the tips. Making the FF1 more significant meant I could reduce P,I and D. It's still not perfect, but I'll be able to be in the same room as it now while it is idling. ------------------------------------------------------------------------------ Crystal Reports - New Free Runtime and 30 Day Trial Check out the new simplified licensing option that enables unlimited royalty-free distribution of the report engine for externally facing server and web deployment. http://p.sf.net/sfu/businessobjects _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
