oak / yaskawa configuration

[cmwiggins]

So following the technical bulletins for setting up the Delta VFD for the spindle motor turned into a nightmarish long process. Since the VFD was alreay configured to the current spindle motor i would have been better off figuring out what was going to be different and only changing those perameters in the VFD. Instead step one was to reset all parameters to factory default. some of the remaining steps were not correct for my configuration ( i suppose) but now have the Spindle working.

So before i do the same with the Yaskawa drives I wanted to ask if anyone had any suggestions since they were configured and working with the old system.
I have yaskawa SGDV 7r6A01A servo packs with SGMGV-09ADC61 motors. I purchased the oak to yaskawa drive cables.
with everything connected i quickly get an axis position error.

Do i need to go througth the Sigma win sofware and configuration process or will the parameters that need changing be in centroid CNC mill software. Was having trouble connecting sigma software to servo pack so decided to ask the question prior to proceeding.

[cncsnw]

It is worth figuring out how to connect to the drives using SigmaWin. That will allow you to review and back up the existing drive Parameters, which will be useful regardless of which way you choose to go forward.

What kind of control were the drives working with before?

Do you know what mode that control used (analog velocity, pulse-train position, analog torque, ...)?

[cmwiggins]

Oasi open controller. Cant find much info on it.
Ill keep trying to get connected. Thanks

[cncsnw]

The Osai controller most likely ran the servos in analog velocity mode.

If you wanted, you could configure your Oak/CNC12 control to run them in analog velocity mode as well, and perhaps not have to change anything in the drives (though you might want to increase the encoder pass-through resolution in Pn212, if the old control used less than 8192 cycles/rev).

You can find out the current resolution by looking at Pn212, either using the keypad on the drive or using SigmaWin.

Alternately, you can just leave emergency stop pressed (so the servo is not enabled) and turn the motor shaft by hand, while watching the "Abs Pos" value on the PID Configuration screen (F1/Setup -> F3/Config -> "137" -> F4/PID). Watch for the asterisk '*' that flashes briefly next to the axis label in the left-most column whenever the index pulse comes around, and calculate encoder counts between successive index pulses.

Encoder counts per revolution in CNC12 will be 4x the Pn212 setting.

On the Centroid/CNC12 side, a reasonable starting point for controllability in velocity mode would be:
- Parameter 256 = 1
- Kp = 0.010
- Ki = 0
- Kd = 0
- Kg = 0
- Kv1 = 80
- Ka = 0

Once you have the axes moving under control, then you can do more in-depth PID tuning to optimize Kv1, increase Kp, and bring in some Ki and Kd.

If all that seems like too much trouble, then just follow Centroid's tech bulletin 267 for position-mode configuration instead, and let Yaskawa do the tuning through the SigmaWin software.