Hicup DC servo motor kp ki kd

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TD-4242
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Hicup DC servo motor kp ki kd

Post by TD-4242 »

I have old Yaskawa DC motors:

UGHMED-06 GG1XX

Code: Select all

        cont.  inst.
kW      0.51 - 2.57
kg-cm   50   - 250
rpm     1000 - 1000
Volts   113
Amps    6.5  - 32
with the defautl:

Code: Select all

Kp 1.0
Ki 0.004
kd 3.0
it works but makes a lot of noise while holding.

I'm going to try manual tuning but was just wondering if there's maybe a good starting point other than the default that may help me out.

https://photos.app.goo.gl/Psw7ungT3tukJoit6
Last edited by TD-4242 on Wed Nov 17, 2021 5:52 pm, edited 1 time in total.
cncsnw
Posts: 2321
Joined: Wed Mar 24, 2010 5:48 pm

Re: Hi Cup DC servo motor kp ki kd

Post by cncsnw »

Try:
Kp = 0.6
Ki = 0.001
Kd = 1.2
TD-4242
Posts: 17
Joined: Sun Apr 12, 2020 11:03 am
Acorn CNC Controller: No
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MPU11 & GPIO4D -w/ 3rd Party Drives: No
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CNC12: Yes
CNC11: No
CPU10 or CPU7: No
CNC Control System Serial Number: KI04039
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Re: Hi Cup DC servo motor kp ki kd

Post by TD-4242 »

While playing around I was finally able to get it so it was only making a very small amount of noise at:

Kp 0.3
ki 0.0008
kd 0.3

This was after a lot of trial and error. Not sure if this is good or bad though, as this is the first time I've ever tried doing something like this.
TD-4242
Posts: 17
Joined: Sun Apr 12, 2020 11:03 am
Acorn CNC Controller: No
Allin1DC CNC Controller: Yes
Oak CNC controller: No
MPU11 & GPIO4D -w/ 3rd Party Drives: No
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No
CNC Control System Serial Number: KI04039
Contact:

Re: Hi Cup DC servo motor kp ki kd

Post by TD-4242 »

seems like these numbers aren't great either as it is still a bit shaky finding zero.
cncsnw
Posts: 2321
Joined: Wed Mar 24, 2010 5:48 pm

Re: Hi Cup DC servo motor kp ki kd

Post by cncsnw »

I evidently missed where you posted a Report, or told us what type of control system you are using.

I am guessing that you settled on an Allin1DC, and are therefore using torque-mode control (the only kind that Allin1DC does).

If instead you opted to use an Oak control and the old Yaskawa drives, in velocity mode, then the approach may be very different.

There is no guarantee that you will find a satisfactory middle ground between too noisy/jittery, and not responsive enough. Since these motors are generally unexplored territory, you probably know as much about tuning them as anyone.
TD-4242
Posts: 17
Joined: Sun Apr 12, 2020 11:03 am
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MPU11 & GPIO4D -w/ 3rd Party Drives: No
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No
CNC Control System Serial Number: KI04039
Contact:

Re: Hi Cup DC servo motor kp ki kd

Post by TD-4242 »

Yeah, sorry about that I was just asking if anyone had any known numbers for these specific drives.

This is an Allin1dc. I'll run a report and upload it.
TD-4242
Posts: 17
Joined: Sun Apr 12, 2020 11:03 am
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MPU11 & GPIO4D -w/ 3rd Party Drives: No
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CNC12: Yes
CNC11: No
CPU10 or CPU7: No
CNC Control System Serial Number: KI04039
Contact:

Re: Hi Cup DC servo motor kp ki kd

Post by TD-4242 »

This is just the initial bench testing to insure that I can get things to work before doing the cabinet layout and taring down the old Acroloc.

Here is the bench test environment:
20211114_181024.jpg
Here's a video of the noises this drive is making although youtube compressed and washed out the audio:


Last edited by TD-4242 on Mon Nov 15, 2021 9:58 am, edited 1 time in total.
polaraligned
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Location: Montvale, NJ

Re: Hi Cup DC servo motor kp ki kd

Post by polaraligned »

You will never be able to tune them correctly on the bench. Mount them up and then run the tuning routines. Even then it can be a bit hard for the inexperienced, but post any problems and someone should be able to give you guidance.
TD-4242
Posts: 17
Joined: Sun Apr 12, 2020 11:03 am
Acorn CNC Controller: No
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MPU11 & GPIO4D -w/ 3rd Party Drives: No
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No
CNC Control System Serial Number: KI04039
Contact:

Re: Hi Cup DC servo motor kp ki kd

Post by TD-4242 »

Thanks, working slowly through it I didn't want to tare down the current machine until I had a little more knowledge on the processes. I'll take the fact that I can move the motors as my current success and move forward. Have a bunch of stuff on the way for me to start working on cabinet layout.
martyscncgarage
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Location: Mesa, AZ

Re: Hi Cup DC servo motor kp ki kd

Post by martyscncgarage »

Bill, your video seems reasonable for a motor on the bench with no load.

Its good you can control the motor at this point.

If you get in jamb, I have 3 Centroid 29 in-lb. motors.

Marty
P.S. Always get in the habit of generating and posting a fresh report when you need help.
Reminder, for support please follow this post: viewtopic.php?f=20&t=383
We can't "SEE" what you see...
Mesa, AZ
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