9043 DRIVE 1 FAULT

[hydrochris]

Hello,

I am installing an OAK board into my FLOW waterjet using the original Yaskawa sigma II drives and motors. I have been working through the installation manual and all has been going well until I reach the final stage of software configuration. At this point I have programed the Yaskawa drives with sigmawin and have the drives tuned and am able to drive the motors through the sigmawin software. I have then finished the instructions from chapter "6.1 programing your third party drive" and confirmed the encoder communication as in chapter 6.2.

This is where things have stopped going to plan. As per the next step I have cleared faults and tried to enter MDI. When the MDI button is pressed the control displays the fault 9043 DRIVE 1 FAULT and Axis 1 is not homed.

I thought maybe I needed to home the axes so I cleared these faults and tried to Home as per chapter 6.4 but when the cycle start button is pressed the message "home not set" appears and the 9043 DRIVE 1 FAULT appears in the messages again.

I thought there may have been some parameters still set in the drives from the original machine setup so I have reset the drives to factory settings and setup as per instructions and tuned again, but still the same results.

I have tried with one drive connected, and two drives connected but still the same result except that when the Y axis is driven the error is 9044 DRIVE 2 FAULT.

I thought that maybe the PLC I had modified and loaded may have had an issue so I have also reinstall the unmodified _basicVCPMpgBeta PLC program (I am using this PLC program because I have a wireless MPG attached and found this one to work from other forum topics). Once again the same results.

I have also monitored the drives through sigmawin when trying all of this through CNC12 but there is no fault registering in the drive.

Hopefully someone can shine some light on what is happening or what I am doing wrong because I am about of ideas.

Thanks in advance.

Chris

[cnckeith]

Hello!
if you haven't already..be sure to follow the yaskawa sigma ii to oak setup guide. here.
https://www.centroidcnc.com/dealersuppo ... ds/295.pdf

Also, please update to v4.14 cnc12 for oak.
https://www.centroidcnc.com/centroid_di ... loads.html

[cncsnw]

Did you remember to connect 24VDC to the top two terminals of Oak header H2?

[hydrochris]

A huge thank you guys, it turns out I did indeed forget to connect the 24VDC to the H2 header, wires now connected and fault all cleared up.

Onto new problems now that the control homes and I can jog the motors I am now getting a "410 axis position error" after a short distance jogged. This occurs on both the x and y axes after approx 1 motor rev. Looking through tech bulletins and other post here it would seem I have an issue with the setup of my encoders.
I found on topic here were the polarity of the motors were set up wrong however I am using AC drives and they seem to be counting the correct direction for travel.
Both motors and drives were working in the machine prior to the old controller crashing so encoders should be good and i haven't actually disconnected any of the wires between the motors and drives. All the manuals I have been working from seem to reference CNC11, is there any major differences with CNC12 as far as setup?
The original encoders as far as I can tell are 2048 pulse per rev. I have set PN201 in the drive to 2048 and the electronic gear ratio to 4:1. This is also the same parameters originally set in the machine prior to the retrofit. As such I have also set the Encoder counts/rev in the Motor parameters to 8192.
Any light you could shine onto this new problem would be much appreciated.
I've also attached a screen shot of the PID values when the error occurred.

Thanks
Chris

[cncsnw]

With Emergency Stop pressed (so drives are disabled, but still have logic power), watch the Abs Pos value on the PID screen while you turn the motor shaft one turn with your fingers.

How many encoder counts do you get from the drive in one turn of the motor?

If you are turning the motor in the direction of positive axis travel, do you get positive counts, or negative counts on the PID screen?

[hydrochris]

I marked the shaft and turned in the positive direction as mentioned. Counts were 8243 in the positive direction and the DRO measured 10.062 mm as I would have expected it to as the distance per rev setting in the motor setup is set to 10mm/rev. The attached screen shot is of the PID screen after one revolution of the Y axis.

X axis seems to have a brake on it and I cannot rotate by hand however when jogged in a positive direction the shaft turns in the correct direction for positive motion and the encoder counts in a positive direction also.

I also placed a dial indicator on both axes, with current settings and jogging 1 mm the dial reads 1mm. Jogging seems to work well until approx 1 rev of motor is complete.

[cncsnw]

If you jog it while watching the PID screen, what do you see happening in the "Error", "Max Error" and "Min Error" columns just before the stall condition is triggered?