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. 

You can test the encoder on large machines by jogging here and making sure feedback pulse counter and Fully closed feedback pulse counter go the same direction. You have to turn off drive enable from the control but leave on hardware enable. 

 

 

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

PN100 Speed loop Gain.  Lower numbers means softer

PN101 Speed Loop Integral Time Constant.  Higher number means softer

PN102 Position loop Gain.  Lower numbers means softer

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.