Erratic servo behavior on Yaskawa Sigma I with OAK - 410 position error
Posted: Sun Aug 13, 2023 2:25 pm
Hi all,
Retrofitting a 1999 Biesse Rover 15 router with Centroid OAK. Had the X,Y, & Z servos roughly working & ran some test code before moving on to the spindle connections and testing. All was PERFECT.
After the spindle was operational, upon powering the servos back up and attempting to move, the X axis has an issue that i have been unable to resolve, resulting in a 410 position error. Incrementally jogging the X motor will "try" to move it, but absolute position does not change. The motor whines increasing as incrementally jogged, and this decreases as commanded position is returned toward zero unless enough error accumulates to throw the 410. When ran from SigmaWin+, the servo will respond but motion is jerky and not always quite as commanded, and often the servo will 'run away' until an A.71 'overload' fault occurs at the servo drive, along with an "A.04 User Constant Error". Have restored the original parameters on the drive as well with no improvement. No parameters are out of range in either config.
Video of SigmaWin operation here:
Photo of SigmaWIN after running away and tripping: USAGED 05V servo with SGBD-05VDY1 Servo Drive
Oak System ID: 0008DC1112130617221312
-Encoder feedback to centroid PID seems correct upon testing by hand.
-Tried swapping encoder and servo cables, as well as switching the X axis to Axis 4 on the Oak- no change.
-Basic multimeter tests of servo and drive show no obvious issues.
-Reverted all spindle connections and started with a fresh CNC12 install and machine config- same outcome.
-Have tried all solutions for similar yaskawa 410 alarm issues presented here with no success.
Report attached.
Pulling my hair out here- any help is much appreciated!!!
Retrofitting a 1999 Biesse Rover 15 router with Centroid OAK. Had the X,Y, & Z servos roughly working & ran some test code before moving on to the spindle connections and testing. All was PERFECT.
After the spindle was operational, upon powering the servos back up and attempting to move, the X axis has an issue that i have been unable to resolve, resulting in a 410 position error. Incrementally jogging the X motor will "try" to move it, but absolute position does not change. The motor whines increasing as incrementally jogged, and this decreases as commanded position is returned toward zero unless enough error accumulates to throw the 410. When ran from SigmaWin+, the servo will respond but motion is jerky and not always quite as commanded, and often the servo will 'run away' until an A.71 'overload' fault occurs at the servo drive, along with an "A.04 User Constant Error". Have restored the original parameters on the drive as well with no improvement. No parameters are out of range in either config.
Video of SigmaWin operation here:
Photo of SigmaWIN after running away and tripping: USAGED 05V servo with SGBD-05VDY1 Servo Drive
Oak System ID: 0008DC1112130617221312
-Encoder feedback to centroid PID seems correct upon testing by hand.
-Tried swapping encoder and servo cables, as well as switching the X axis to Axis 4 on the Oak- no change.
-Basic multimeter tests of servo and drive show no obvious issues.
-Reverted all spindle connections and started with a fresh CNC12 install and machine config- same outcome.
-Have tried all solutions for similar yaskawa 410 alarm issues presented here with no success.
Report attached.
Pulling my hair out here- any help is much appreciated!!!