1 Attachment(s)
Kflop/Kanalog Wiring for Yaskawa SGDH drives
Well... this is my first machine I am trying to throw together and I pretty much have 0 CNC experience but think it'd be a pretty darn cool toy. I have the X and Y axis operational after many hours on a manual mill and I can jog them manually using a pendant.
The X-Axis is a SGDH-04AE drive, the Z will probably be the same.
They Y-Axis is a SGDH-01AE drive.
I would like to hook up the Kflop and Kanalog but always stall on the part of trying to figure out what to do next. In the spirit of documentation I decided to try to throw together a wiring diagram for everything. I also noticed there is a serious lack of "examples" of others wiring so maybe this will be of some help when/if I finish...
Could somebody review what I have and see if there is any issues that jump out?
Thanks in advance!
Chris
1 Attachment(s)
Latest Wiring Schematic Rev2
New Drawing Posted. I added the limit switches and the second 24v power supply for isolation when using the SwitchEnableAll.
With regards to the limit switches, I can use them for home flags as well correct? Just have to setup the code to utilize them during the homing sequence?
Thanks!
Chris
Re: Kflop/Kanalog Wiring for Yaskawa SGDH drives
Hi upsyd0wn
There is an Output Offset on the config screen but it is in DAC counts not Volts. But you are probably better off adjusting it in the drive. Or better yet disable the amplifier whenever the Axis is disabled as it is always difficult to have an analog signal be perfectly zero,
Regarding Kanalog Tuning you might read these Threads:
http://www.cnczone.com/forums/dynomo...vo-tuning.html
http://www.cnczone.com/forums/dynomo...ion-kflop.html
HTH
Regards
1 Attachment(s)
Re: Kflop/Kanalog Wiring for Yaskawa SGDH drives
Attachment 242026
Thanks Tom!
I have done the following:
#1 Check that the DAC can command Velocity to the Motor/Amplifier - good, I did have to reset the reference voltage on the driver again which I thought was odd. Either the driver didnt save the reference, or the voltage from the DAC had changed...
#2 Check the Encoder Feedback is working properly - Great
#3 Enable the axis and check that it servos - Found that I had to change the gain to -1 as the axis was drifting, then good, held strong and did not allow movement
#4 Perform a Move on the Step Response Screen to check the Response - plot is attached, looks good to me, the desired movement looks quick and accurate, what do you think?
#5 Tuning... not yet.
Thanks for the help! Very exciting to get things moving, I appreciate the help!
Chris
Re: Kflop/Kanalog Wiring for Yaskawa SGDH drives
Hi Chris,
Not sure why the reference voltage changed. But it is very difficult/impossible to have an analog signal be perfectly zero with no motion. Analog signals will always have some error and noise. If your amplifier is sensitive enough (as it should be) there will be some movement. Better to disable the amplifier when the servo is disabled. The offset is not a problem when the servo is enabled because the servo will adjust the output as required to hold position.
That looks all correct and things are definitely servoing. Notice the Position (red) trying to follow the Command (blue). But it looks like you pused the "Step" button rather than the "Move" button.
The next step would be tuning. Increasing Gains, Max Outputs, etc. to improve performance. Also to determine what Velocity, Acceleration, Jerk the axes are capable of.
Regards
1 Attachment(s)
Re: Kflop/Kanalog Wiring for Yaskawa SGDH drives
Tom,
I think this is as fast as I can go... my framing isnt sturdy enough to move faster, a little top heavy with my Z-axis(will have to fix that later). Anyway, I wanted to check in and see if I was on the right track.
The tracking looks to be dead on, the x-axis moves and returns to the exact point it started, the command and position are direcly on top of each other. The output graph doesnt appear to have excessive noise. So the questions are:
Does it look good?
Now that I have all of this information, what do I do with it?
Attachment 242276
Thanks!
Chris
Re: Kflop/Kanalog Wiring for Yaskawa SGDH drives
So I've been reading a lot between the two posts you had me look at earlier. I've actually started compiling what was said betwen them into a single document in hopes it will make it easier to get everything setup. Looks like I need to get the Jerk setup 10x what the acceleration is. The max 2047 to equal 10v so its not necessary to max the values out as much as I did. It also appears I jumped around too large on the PID settings, I will try to adjust the I in smaller increments to see if I can smooth the output. I also need to figure out the max following error. Hopefully I will get some time tomorrow(er today) to get this done!
Thanks for the help!