Oak with Yaskawa Sigma I jerking

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carocad
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Oak with Yaskawa Sigma I jerking

Post by carocad »

I am converting an old wood router to OAK, but i am in a bit of a problem i cannot seam to find the solution for.
i have follow the installation manuals to configure the servos.
all 3 axis are on Yaskawa Sigma I drives with USAGED servos. old stuff but it is still turning.

my problem is that Y is not moving smooth at all, at any speed. faster is worst
X and Z i have nothing to complain about

i checked and triple checked wiring

I run PID and the graphs are all out of wack, so something is not right but i dont know how to fix it.
any help is much appreciated.
Attachments
report_0008DC111213-0503211122_2022-05-05_11-19-44.zip
report
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z axis
z axis
y axis
y axis
x axis
x axis
carocad
Posts: 16
Joined: Fri Jun 11, 2021 2:17 pm
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Re: Oak with Yaskawa Sigma I jerking

Post by carocad »

I connected the drives to Sigma5 and all motors are moving smooth at different jog speeds.
jogging from centroid is okay for X and Z but Y is jolting at all speeds.
any help is much appreciated.
cncsnw
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Re: Oak with Yaskawa Sigma I jerking

Post by cncsnw »

Do you really have ca. 0.16 motor revs per inch on the Y axis, vs. 1.0 and 5.0 revs/inch on X and Z?

What does "connected the drives to Sigma5" mean? I thought you were using Sigma I drives (e.g. SGDB- or SGDA- models). Sigma5 drives would be SGDV- models.

Have you tried running your original motors and drives in analog velocity mode instead of pulse-train position mode? Do you know what mode they ran in with the previous control?
carocad
Posts: 16
Joined: Fri Jun 11, 2021 2:17 pm
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Re: Oak with Yaskawa Sigma I jerking

Post by carocad »

yes, 1" on Y is 0.16 revs. this is a direct mount on a rack and pinion. i will get a reducer if needed.
Sigma5 should read SigmaWin+ (version5)

All drives are SGDB

all motors are now setup in 'Position control (pulse train reference)' as per OAK installation manual.
original machine setup was 'Speed control (analog reference)'

I have changed the Y to axis #3 on OAK with a new cable to the SGDB drive, problem still there.
I removed the motor and run PID from OAK at different speeds and the graph looks good, once the motor is in place then jerking starts (only on Y)

The mystery is that running the motor (installed in the CNC) from SigmaWin at any speed the machine moves very smooth.
cnckeith
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Re: Oak with Yaskawa Sigma I jerking

Post by cnckeith »

direct mount rack doesn't work! need at least 3:1 reduction 5:1 is best.

Router and Plasma Machine Happy Zone
- Happy Zone Overall Turns Ratio for routers is 1.5 to 2.5 turns of the AXIS MOTOR yields 1" of table/gantry movement.

i would reinstall cnc12 and configure in position mode from the start. i've done several routers with the combo (oak yaskawa in position/precision mode) and it works well.
Need support? READ THIS POST first. http://centroidcncforum.com/viewtopic.php?f=60&t=1043
All Acorn Documentation is located here: viewtopic.php?f=60&t=3397
Answers to common questions: viewforum.php?f=63
and here viewforum.php?f=61
Gear we use but don't sell. https://www.centroidcnc.com/centroid_di ... _gear.html
cnckeith
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Re: Oak with Yaskawa Sigma I jerking

Post by cnckeith »

gear boxes are cheap and easy solution to put a router axis in the happy zone.

https://photos.app.goo.gl/KwwzFqAn8XXp2aDT8

https://photos.app.goo.gl/jDNcqU2Fn39cYSC87
Need support? READ THIS POST first. http://centroidcncforum.com/viewtopic.php?f=60&t=1043
All Acorn Documentation is located here: viewtopic.php?f=60&t=3397
Answers to common questions: viewforum.php?f=63
and here viewforum.php?f=61
Gear we use but don't sell. https://www.centroidcnc.com/centroid_di ... _gear.html
carocad
Posts: 16
Joined: Fri Jun 11, 2021 2:17 pm
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Re: Oak with Yaskawa Sigma I jerking

Post by carocad »

so in my case i will need a 10:1 or better to do 1.6 revs for 1" travel
can you please help me locate a good supplier for the gear box.
thank you.
cnckeith
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Re: Oak with Yaskawa Sigma I jerking

Post by cnckeith »

last ones we bought were from LeadShine they are working well. for some reason they don't have them on their website.
automation has them as well. https://www.automationdirect.com/adc/sh ... sc&start=0

and very similar looking boxes can be found on alibaba and google. "cnc planetary gear box"
Need support? READ THIS POST first. http://centroidcncforum.com/viewtopic.php?f=60&t=1043
All Acorn Documentation is located here: viewtopic.php?f=60&t=3397
Answers to common questions: viewforum.php?f=63
and here viewforum.php?f=61
Gear we use but don't sell. https://www.centroidcnc.com/centroid_di ... _gear.html
carocad
Posts: 16
Joined: Fri Jun 11, 2021 2:17 pm
Acorn CNC Controller: Yes
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Oak CNC controller: Yes
CNC Control System Serial Number: none
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No

Re: Oak with Yaskawa Sigma I jerking

Post by carocad »

glad to report the 10:1 reducer is working VERY WELL.
thank you
cnckeith
Posts: 7166
Joined: Wed Mar 03, 2010 4:23 pm
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Re: Oak with Yaskawa Sigma I jerking

Post by cnckeith »

carocad wrote: Wed Jun 15, 2022 5:00 pm glad to report the 10:1 reducer is working VERY WELL.
thank you
thanks for reporting back. post some photos would love to the machine.
Need support? READ THIS POST first. http://centroidcncforum.com/viewtopic.php?f=60&t=1043
All Acorn Documentation is located here: viewtopic.php?f=60&t=3397
Answers to common questions: viewforum.php?f=63
and here viewforum.php?f=61
Gear we use but don't sell. https://www.centroidcnc.com/centroid_di ... _gear.html
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