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Submitted by LarryAhr on Thu, 03/13/2003 - 08:20

Drives: Yaskawa Legend 4
Motors: Yaskawa 400W Servo

I've used WSDK's Point-to-point to tune this, and while responsive, the motors are constantly squealing. One axis squeals while moving, another while at rest. Reducing KD & KP reduces the noise, but the movements become spongy. Someone has suggested using Deadband, but I cannot find a parameter by that name.

Any suggestions? TIA!
Larry

Comments 5

EricK on 03/17/2003 - 12:20

Larry,

What mode do you have the amplifier set up with, torque , velocity, or voltage?

Often times if the amp is set in velocity mode, our PID filter may conflict with the closed loop velocity control associated with the amp. It is reccommended that the amp is set in analog torque mode. This way the Galil can be in control of the entire servo loop and control the stability of the system. It is in torque mode that our tuning methods work best since we can adjust the gains (including damping control, KD) to optimize stability.

-EricK

[This message has been edited by EricK (edited 03-17-2003).]

DannyM on 06/14/2012 - 05:17

Hi,

we're using for our wrapping tool (payout/take up drives) a Galil DMC 4020 controller and a Yaskawa Servopack SGDV-2R8A01A and a Yaskawa Servomotor SGMJV-04A3A61 for each axis (payout/take up).
The problem with the wrapping is that we have an overshoot in the speed control (up to 50%). We used the Galil tuning tool to get the best PID parameter, but we can't see a improvement. What we think is that the Yaskawa Servopack doesn't allow an external parameter. Is that right?
How can we get an improvement for our speed control? The default control method in every Servopack is the torque methode.

Thx for your help.

Galil_AndyH on 06/14/2012 - 08:50

Danny,

"What we think is that the Yaskawa Servopack doesn't allow an external parameter." What external parameter are you referring to?

Are you running the Yaskawa drives in torque or velocity mode?

What are the PID parameters that you found using GalilTools?

DannyM on 06/15/2012 - 05:33

Hi,

the Yaskawa drives are running in torque mode (via SigmaWin Pn000 digit1 is set to 2 "Torque control [analog reference]).
What i did is that i tuned both axis (a,b) to see the best PID values. I wrote it in the program (KD 34,147; KP 9,21; KI 0,0), but i don't see an effect. It doesn't matter which values the PIDs have, you don't see an effect.

Galil_AndyH on 06/15/2012 - 08:48

You should be seeing some sort of change in the response of your system with changes to the PID's. E-mail support@galilmc.com with reference to this thread and we will address your application directly.