7i77 to AC Yaskawa Drive assistance.

I'm still getting following errors and can't seem to get the drivers to have the same lights in the front (y seems to indicate in torque control) despite resetting parameters and going through all the majors 1 by 1.

I still need to get a servo (or two - if I build both torches) for my Z axis... Looking at Yaskawa items on eBay... That gets pricey even used....

Considering ditching the 20 year old Yaskawa drives and motors selling them on eBay.

Buying all 4 DMM servos and drives and be money in my pocket and have new equipment.

Am I crazy? I hear these Yaskawa motors are indestructable....

How many are using these with Mesa no breakout boards closed loop? Reliable?

You may not appreciate that following errors are pretty much guaranteed during initial setup
for 2 reasons:

1. Feedback may be backwards, causing a runaway (you have a 50% chance of this)

2. The system will not be tuned initially so will not follow the commanded position accurately

In addition of course wiring errors are possible

The way to bring up a analog servo system is outlined here:

gnipsel.com/linuxcnc/tuning/servo.html

Note the "prepare to tune " section

OH I appreciate it.. Finding it a B!

1) I have set the drivers via the parameter to reflect the "proper" direction. (especially important with a gantry) Is this problematic? When I use the driver interface and jog with that. All Positive directions move the motors in what would be the Positive direction on my quadrants.

2) Problem with that help file it it is for fine tuning... I'm not there yet. I can't get the button for machine power to not error out with a following error if I have the CN1 plugged into the drivers. Feel pretty confident in my wiring though... As you and I went over that several times.

Do have an additional question though... My 13 bit drivers say they can handle 2048 PPR, is that what I put in the calculator for pncConf? or only a 1/4 of that as it multiplies it by 4? Not that I think that makes any difference at this point in time.

2) Problem with that help file it it is for fine tuning... I'm not there yet. I can't get the button for machine power to not error out with a following error if I have the CN1 plugged into the drivers. Feel pretty confident in my wiring though... As you and I went over that several times.

The part in the tutorial about widening the following error limits is critical to even starting to tune,
an instant following error is _expected_ before doing this.

By widening the following error limits you can:

1. Tell if the feedback direction is correct (if it runs away you need to reverse the OUTPUT_SCALE parameter
2. Allow enough margin for tuning

OK Peter... will enough margin to tune... I get to play a little bit before the error comes... BUT, I feel I have to have something bonehead yet. Especially the OUTPUT scale items....

I am running at 1440 (4x360) PPR

Given this is a heavy system have a 28:1 gearbox
36 teeth on the shaft
and 7.62 teeth per inch or (36 per 120mm)
Calculator comes up with an encoder scale of 1344.

max velocity of the machine at 3600mm/min or 60mm/s

Here is are one of my drives

[AXIS_X]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.
MAX_LIMIT = 6048.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 25.0
MIN_FERROR = 20.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 750.0
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.1666
FF2 = 0.0
BIAS = 0.0
DEADBAND = 1.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 1344.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -100
MAX_LIMIT = 6048.0
HOME_OFFSET = 0.0

========================================================

#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# ---PWM Generator signals/setup---

setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => hm2_7i92.0.7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable => hm2_7i92.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i92.0.encoder.00.position
net x-vel-fb <= hm2_7i92.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
========================================================

If you would be so kind as to glance at this and see if I'm doing something stupid I would be most grateful. And again, more than willing to send you something as both our time is worth money.

Thanks again..

The first question is: Does the motor motion follow jog commands or does it just run-away?

It follows... But is off by a significant factore of magnitude. So I I put anything large into a Midi command it blows out of my 25mm wide error factor.

Are the drives in velocity mode?
You can tell by whether they hold position or drift slowly and resist applied torque when enabled but without feedback. If they are in torque mode, the tuning strategy is very different

They are configured for velocity (which happens to be the default), and only velocity pins are connected.

I can test trying to move it manually though in the morning.

So you now seeing any errors in my configs? Just need to follow Tommylights guide step by step?

forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to

Are my initial values Ok to start from?

MAX_VELOCITY = 60.0
MAX_ACCELERATION = 750.0

max accel is probably too high with that kind of gearing (0 to ~3600 RPM in 80 ms)