You can do it with one or two PID loops. Personally, with my machine, I found it significantly easier to tune with two loops and work better over a broader range of conditions. But others may have had better luck with one loop. I've posted copies of my config in the forums before. I'll have to dig up the link and post it here.
Todd Zuercher P. Graham Dunn Inc. 630 Henry Street Dalton, Ohio 44618 Phone: (330)828-2105ext. 2031 -----Original Message----- From: andrew beck <andrewbeck0...@gmail.com> Sent: Monday, August 30, 2021 1:40 AM To: Enhanced Machine Controller (EMC) <emc-users@lists.sourceforge.net> Subject: Re: [Emc-users] torque mode tuning yaskawa servo drives [EXTERNAL EMAIL] Be sure links are safe. just a quick follow up to make this question more general for everyone i really just want a working config from someone that has the torque mode servo stuff in linuxcnc working. i am getting confused if i need two nested PID loops or if i can just use the default velocity control setup On Mon, Aug 30, 2021 at 2:57 PM andrew beck <andrewbeck0...@gmail.com> wrote: > hey everyone > > i am trying to tune my yaskawa sigma 1 series servo drive at the > moment and thinking about using torque mode for tuning. > > currently the process is auto tune drives to a rigidity setting and > then control drives with velocity reference in linuxcnc. I am not > getting the most amazing control and any P value over 8 means the > drive starts vibrating. i have tried a range of rigidity settings in > servo drive > > i have never set up linuxcnc to control torque mode and just wondering > if what the correct way is? is it the same as velocity control in > terms of the pid loops and hal layer? or is there another whole level > of stuff i need to do > > and i saw that i needed to speed up the servo thread a bit to get > better performance if using torque mode > > anyway let me know your experiences > > regards > > Andrew > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Flists.sourceforge.net%2Flists%2Flistinfo%2Femc-users&data=04%7C01%7Ctoddz%40pgrahamdunn.com%7Cf2a69a7e71d845d8b57b08d96b7a69d6%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C637658995768242951%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=%2BzBZerFEpxlzX%2BE03043V5kbGJK3SLiaudCAJwTMMSc%3D&reserved=0 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
