Z axis Pid tuning mesa 7i77 & Yaskawa sgda-04as

Dex64
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6 years 1 month ago #180998 by Dex64

Z axis Pid tuning mesa 7i77 & Yaskawa sgda-04as was created by Dex64

Hello
I have in my cnc mesa card 7i77 with servopacks yaskawa sgda-04as.
Now I made pid tuning for XY axis. I have a problem with Z axis. When I
have to change P value higher than 0 then axis move. I compensate it via voltage offset at drive.
Axis stops and when I move down everything is ok but when I move up then axis move by itself. Then when
I back with P value to 0 axis axis work properly in both directions (manual jogging). With P=0 ferror is huge. Do You have some advice for
me? Thank You in advance. Screen in attachments

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PCW
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6 years 1 month ago #181004 by PCW

Replied by PCW on topic Z axis Pid tuning mesa 7i77 & Yaskawa sgda-04as

You must have some P term or you do not have position feedback
Are you sure you have the feedback in the proper direction?

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Dex64
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6 years 1 month ago #181045 by Dex64

Replied by Dex64 on topic Z axis Pid tuning mesa 7i77 & Yaskawa sgda-04as

Hi
Youre right. I had inverted feedback to this axis. Now it works ok. Thanks a lot.
I have one more question. How can I compensate this peak ferror in axis X and Y?
I attached screens from linux and software from driver.