7i92/7i77 Yaskawa Servo

You will have to do both.

Swapping A and B will reverse the encoder direction,
(as will changing the sign of the input scale ini parameter)
but now you will have positive feedback and a instant runaway
so the analog output must be reversed also

This is done in the hal file by changing the sign of the scalemax
parameter for the axis you wish to change

For example instead of

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax 10

you would have

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax -10

Edit: just noted you have P value of -10? P values should be positive


You will have to do both.

Swapping A and B will reverse the encoder direction,
(as will changing the sign of the input scale ini parameter)
but now you will have positive feedback and a instant runaway
so the analog output must be reversed also

This is done in the hal file by changing the sign of the scalemax
parameter for the axis you wish to change

For example instead of

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax 10

you would have

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax -10

Edit: just noted you have P value of -10? P values should be positive


You will have to do both.

Swapping A and B will reverse the encoder direction,
(as will changing the sign of the input scale ini parameter)
but now you will have positive feedback and a instant runaway
so the analog output must be reversed also

This is done in the hal file by changing the sign of the scalemax
parameter for the axis you wish to change

For example instead of

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax 10

you would have

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax -10

OK that worked perfectly reversing the outputs. Still getting following erros. I think I will have to double check settings in the INI. Thanks for all the help Peter!

Dan

Peter will I have to re-tune the servo amp PID settings? I have the axis stable and holding position, Encoder scale is correct. But when I try to do a incremental move of 1mm the axis is moving 25.xx mm then proceeding with a following error. Let me know your thoughts. Thanks.

Sure sounds like feedback is backwards so you get an instant runaway when you try to jog

edit: what are your P,I,D, FF1 settings?

I inverted the output pin and physically switched the A and B channels, with no luck......

Well if you do both, if the feedback was backwards it will still be backwards

Its better to do things systematically

1. Get encoder inputs scaled properly and in the proper direction (and never change again)

2. Verify you have negative feedback (positive feedback= runaway)

You can do this by setting the PID values to 0 and FF1 to say 1 and then doing a jog
if the jog moves in the correct _direction_ as determined by the _change_ in the DRO
(the distance will be wrong) the feedback is correct. If the feedback is incorrect,
change the analog output polarity

Yes the encoder is scaled and in the proper direction. Sorry I did not clarify that I did each process individually and not both at the same time. Ha!

The axis moves as commanded manually and in the right direction, but why do I get a following error? Is there an issue with my output_scale and output_min/max values?

can you post your hal and ini files?

A 25 mm error means something basic is wrong (runaway or no control)