Here is the like to a zip file. https://forum.linuxcnc.org/media/kunena/attachments/3190/2PID.zip
It is a bit of a complex config with a number of little hal quirks. It is for a cnc router with two spindles and two parallel Z-axis. The two Z axis are set up as a Z and W, and much of the complexity of the config comes from a workaround to allow the W axis to be slaved to the Z axis (using custom M-codes) and have both move together using single Z-axis commands (so that the new tool planner look ahead will run on it.) It uses a Mesa 5i25/7i77 combo to send analog torque commands to some Technics servo drives. It will also help in a torque command set up to have a good computer capable of running a very fast servo-thread with low latency. (Not sure if the newer realtime kernels are capable of this. I'm running Wheezy on this machine.) Todd Zuercher P. Graham Dunn Inc. 630 Henry Street Dalton, Ohio 44618 Phone: (330)828-2105ext. 2031 -----Original Message----- From: Todd Zuercher <to...@pgrahamdunn.com> Sent: Monday, August 30, 2021 8:28 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. 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%7Cc851967083f74ca0d3c608d96bb1a3c8%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C637659232961912543%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=5xe3FBRZEFIXz1aH4x%2B8lMd%2FyyKxZRlmQqm7MBmMhQU%3D&reserved=0 _______________________________________________ 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%7Cc851967083f74ca0d3c608d96bb1a3c8%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C637659232961912543%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=5xe3FBRZEFIXz1aH4x%2B8lMd%2FyyKxZRlmQqm7MBmMhQU%3D&reserved=0 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
