andypugh wrote:
Duc wrote: 1. Does the yaskawa need to be single mode encoder setup on the mesa card? Appears to be differential to me.
Yes, that is showing a differential receiver.
2. Where does the 7i77 get the 10v power for the analog drives?
The TB1 description on manual page 6 seems to suggest that it comes from the cable 5V or the TB1 5V connector depending on a jumper. (if it does, then presumably it is via a DC to DC converter)
PCW confirmed that it comes from the 5V power
Cables
In the end, the china seller would not fix the encoder cables that were missing pin outs so I had to buy some yaskawa encoder cable extenders then swap the china end piece to the extender cable. Talk about tiny contacts.
Before tuning the drive make sure to have the limits switches wired in. This guy learned that lesson. :homer: Managed to slam the table against the Y-axis hard limit due to this. The table was jammed so hard that I need to hook a chain wrench to the unused part of the ball screw to force it off the hard stop. Area to left is where the chain wrench was used
image missing http://i1221.photobucket.com/albums/dd465/shefron/Machinery/Boss5%20servo/20151226_121216_zps4e8ucf4b.jpg
Picture of the hard stop that I hit. Its now off of it.
image missing http://i1221.photobucket.com/albums/dd465/shefron/Machinery/Boss5%20servo/5cce5748-36ca-43d2-b460-45b47179e2c0_zpsfisrpnbn.jpg
Velocity drives do not like a FF1 of 2. Caused the drive to move instantly once the power is turned on. Live and learn.
I was trying to fix this issue.
image missing http://i1221.photobucket.com/albums/dd465/shefron/Machinery/Boss5%20servo/Y-axis%20tuning_zpsdxwwemwg.png
Multiple things went into fixing the follow error shown in the picture above. Cant really pin it down to one thing since I was trying a lot of things at once. Here are a few things I did to fix the error.
Limit RPM of drive.
Max Velocity = RPM * Gear Reduction * Ballscrew
200 IPM = RPM * 1* (.2"/REV)
Max RPM I wanted the Y drive to go is 1,000 RPM. Servo system love speed but I will be researching Servo gearboxes later on since there isn't room for new pulleys.
Tuning setting in Linuxcnc
Located under machine --> Calibration - Can be adjusted on the fly and checked with the Halscope
10V = FF1 * Machine velocity (IPS)
IPS = IPM/ 60 -> converting Inches per minute to inches per second
FF1 should be around 3.03
P - Stiffness - I had to play with this value till the drives did not oscillate in place. Before I hooked the drives to the table the values were around 14,000 but in system were around 1,000.
Yaskawa drive adjustment.
Had to adjust the gain on the drive to limit the speed to 1,000 RPM when it saw 10V.
New Chart after some fiddling. A lot of the advice for fiddling with the Tuning came from PCW on Linuxcnc. Awesome support from the owner of Mesa.
image missing http://i1221.photobucket.com/albums/dd465/shefron/Machinery/Boss5%20servo/Y-axis%20159%20IPM_zpsnm1es1je.png
