My biggest problem with torque mode and a single pid loop was that it was inconsistent on my machine. Tune settings that worked well one day didn't the next. And If I had good following errors at one speed, changing the speed and or load on the system caused much larger errors. With velocity mode (or a duel loop in Linuxcnc) I had much more consistent results. I might have had slightly larger minimum following errors under controlled conditions, but the errors were much more consistently smaller in real world and broader conditions.
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: Wednesday, September 01, 2021 5:51 PM 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. Hey todd The drives are new old drives I found. The existing drives used mecholink control that is to hard to talk to and I had the spare drives sitting in shed for years. I paid 10 bucks each lol so that's good at least. The motors are existing. I have had to set up lots of stuff on the drives and the only thing that I had to tune them was the auto tuning function. Which was not that good. So far torque mode has been pretty good. But I might try two nested loops yet. Y axis is really good like max following error 0.04 at 16m/min X axis motor runs out of torque. And just can't keep up. I can set drive to push 300 percent rated torque through motor briefly. What do you guys think of that, is it OK? Factory default is set to 300 percent. I changed it to 100 percent On Thu, 2 Sep 2021, 02:10 Todd Zuercher, <to...@pgrahamdunn.com> wrote: > I have no experience tuning one of those drives. (but my experience > with torque mode was less than wonderful.) Just curious was your > machine a retro fit that was originally equipped with those drives, or > is it a new install of these drives? Were the drives velocity loops > tuned for your machine before you tried to use them? If they weren't > properly tuned for velocity command input on your machine it isn't > surprising that they may not work well in that mode. (While I haven't > tuned those drives for Linuxcnc, I do have a machine that uses them > with another control in I assumed velocity mode, I just haven't had to > mess with them.) > > 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: Wednesday, September 01, 2021 2:16 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. > > hey everyone > > got good news to report back here! > > i changed to torque tuning and its like 10 times better than velocity > tuning in these drives > > someone one the forum said that he was starting to suspect that the > velocity tuning on the yaskawa drives was really that bad so they > allowed a torque feedforward setting to fix it lol > > anyway my initial findings were torque control is awesome > > i will post back later with more tuning findings > > regards > > Andrew > > 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%2Flist > s.sourceforge.net%2Flists%2Flistinfo%2Femc-users&data=04%7C01%7Cto > ddz%40pgrahamdunn.com%7Ce5ffc4a4783848c1ce3408d96d92b329%7C5758544c573 > f47cebee96c3e0806fb43%7C0%7C0%7C637661299125087584%7CUnknown%7CTWFpbGZ > sb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3 > D%7C1000&sdata=WUMqc5riOTPCc%2FJESAbkAJR6bDMkMXtls7rwQWAvcoM%3D&am > p;reserved=0 > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Flist > s.sourceforge.net%2Flists%2Flistinfo%2Femc-users&data=04%7C01%7Cto > ddz%40pgrahamdunn.com%7Ce5ffc4a4783848c1ce3408d96d92b329%7C5758544c573 > f47cebee96c3e0806fb43%7C0%7C0%7C637661299125087584%7CUnknown%7CTWFpbGZ > sb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3 > D%7C1000&sdata=WUMqc5riOTPCc%2FJESAbkAJR6bDMkMXtls7rwQWAvcoM%3D&am > p;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%7Ce5ffc4a4783848c1ce3408d96d92b329%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C637661299125087584%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=WUMqc5riOTPCc%2FJESAbkAJR6bDMkMXtls7rwQWAvcoM%3D&reserved=0 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
