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Yaskawa Fully Closed Loop Control Control (Dual Loop, Glass Scale, External Encoder)

Excel calculator

Use the calculator on the server to get Yaskawa Drive parameters, and steps per settings for Mach

M:\Support\Machine Calibration\Yaskawa Fully Closed Loop

Also see this folder for encoder config files, as well as some info on each encoder in the .txt files

M:\Support\Machine Calibration\Yaskawa Fully Closed Loop\Universal Card Config Files



In tuningless mode, you likely will have to adjust the rigidity: Yaskawa Mini Manual. 

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Prerequisites

You
    have
  • Haveto aturn tuningoff cable
    • drive
  • Downloadenable and install SigmaWin+
    • https://www.yaskawa.com/products/motion/sigma-5-servo-products/software-tools/sigmawinplus/-/content/_6c2e204d-20bc-475d-84a3-8f471d3ccaf7_DownloadSoftware
  • Copy over USB folder (M:\Production\Products\Drives-Servo\Yaskawa\Software\SigmaWinPlus570a)
    • Check device manager infrom the usbcontrol sectionbut or unrecognized device section to find the Yaskawa drive. update the driver manually, looking in the USB folder copied over.
  • Open SigmaWin+ and connect to drive
    • If drive is not showing, go to device manager and find the Yaskawa drive and update drivers (foundleave on server:hardware production,enable. product,

      servo,

      image.png

      Yaskawa,

       software)

     

Manually Tune Servo Gains

If auto tuning doesn't work, you may have to manually tune the servos. 

Turn off Tuning-less Function in the drive

Set Pn170.0 to 0 to disable the auto gain adjustment

Calculate the Moment of Inertia Ratio

Run the first step of Auto Tuning with SigmaWin to calculate the Moment of Inertia Ratio and save that to the drive.  Also verify that the calculated percent is less than 400, if its greater than 400 then the motor is not sized correctly.


Basic Auto-Tuning

Tuning Setup
  1. Search and connect to the drive
  2. Keep hardware enable on, but turn off drive enable. Do that with one of the following methods: 
    1. Set "Turn Off Enable Signals upon Disable" to "Drive Enable" in Interface Config or Configure->Plugins->MachMotion. 

      Press Save and disable the software. 
    2. Or if necessary, pull the control cable out from the drive.
  3. Select Tuning --> Tuning to begin the tuning process
  4. Click the Execute Button.

  5. If it isn't in tuning mode already, you will have to enter tuning less mode. Press OK and then cycle power on the drive. image-1590097240103.png
  6. Click the Execute button to calculate inertia. NOTE: If worse than 500% (5:1 ratio), your motor will likely not work. Call MachMotion for engineering. 

  7. Select the No Reference Input Option in the Autotuning Area and then click the Autotuning
    Button.

  8. Configure Conditions

    1. Choose "0: A moment of inertia is presumed" (We already calculated the inertia above)
    2. Choose "2: Position"
    3. Choose appropriate mechanism. Default use Belt Mechanism even for ball screw unless you need very rigid tuning. 
    4. Edit distance if necessary (3 revs is default)
    5. Select "Start tuning using the default settings" (can be done without this option, but this is the typical way to do your first tune).
  9. Select "Next"

YaskawaAutoTuning2.jpg

Tuning Process
  1. Turn the "Servo ON"
  2. Select "Start Tuning"
  3. Software will run the motor through it's pre-programmed moves
  4. Click "Finish"
  5. The drive is tuned
  6. Click "Finish" again to exit tuning mode


Final Parameter Setup
  1. Turn off model following by setting Pn140 digit 0 to 0. 
  2. Set feed forward gain Pn109 to 0%.
  3. Check the following parameters on X and Y drives.
    1. Pn100 (Speed Loop Gain)
    2. Pn101 (Speed loop integral time constant
    3. Pn102 (Position Loop Gain)
  4. Pick the lowest value for each parameter. 
  5. Then make both drives match each parameter. 



Advanced Tuning

If additional tuning is required, you can run through the same procedure above but modify selections on Mode Selection and Mechanical Selection. 

You may have to play with Pn100-Pn102. But MachMotion strongly recommends keeping the parameters matching in both drives. 

You can also go through Chapter 8 (Tuning) of the attached manual (Sigma-7 Manual Analog-Pulse.pdf). 


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