Erratic servo behavior on Yaskawa Sigma I with OAK - 410 position error

[erer44]

Hi all,
Retrofitting a 1999 Biesse Rover 15 router with Centroid OAK. Had the X,Y, & Z servos roughly working & ran some test code before moving on to the spindle connections and testing. All was PERFECT.

After the spindle was operational, upon powering the servos back up and attempting to move, the X axis has an issue that i have been unable to resolve, resulting in a 410 position error. Incrementally jogging the X motor will "try" to move it, but absolute position does not change. The motor whines increasing as incrementally jogged, and this decreases as commanded position is returned toward zero unless enough error accumulates to throw the 410. When ran from SigmaWin+, the servo will respond but motion is jerky and not always quite as commanded, and often the servo will 'run away' until an A.71 'overload' fault occurs at the servo drive, along with an "A.04 User Constant Error". Have restored the original parameters on the drive as well with no improvement. No parameters are out of range in either config.

Video of SigmaWin operation here:



Photo of SigmaWIN after running away and tripping:

Screenshot of SigmaWin after trip

USAGED 05V servo with SGBD-05VDY1 Servo Drive
Oak System ID: 0008DC1112130617221312

-Encoder feedback to centroid PID seems correct upon testing by hand.
-Tried swapping encoder and servo cables, as well as switching the X axis to Axis 4 on the Oak- no change.
-Basic multimeter tests of servo and drive show no obvious issues.
-Reverted all spindle connections and started with a fresh CNC12 install and machine config- same outcome.
-Have tried all solutions for similar yaskawa 410 alarm issues presented here with no success.

Report attached.

Pulling my hair out here- any help is much appreciated!!!

[eng199]

along with an "A.04 User Constant Error". Have restored the original parameters on the drive as well with no improvement. No parameters are out of range in either config.

The drive claims that parameters are out of range. I would expect that either a parameter is out of range, or the drive is damaged or corrupt. Did you try a reset to defaults and see if it jogs before changing any parameters?

[erer44]

Thanks for the reply- Would love to but I am not finding any way to do a factory reset on a Sigma 1 drive... Easily findable for Sigma 2+, of course!

[RTech]

You could compare your parameter settings to the "Factory Settings" as in the attached User's Manual. There really aren't that many for the early Sigma drives.

[cncsnw]

If the internal torque reference, as displayed by SigmaWin, is going up to 25%, 44%, 70% while you are jogging a free motor, then I would suspect there is an internal problem with the motor. I would not expect to see even 10% torque required to jog a free motor.

How does the motor feel when you turn the shaft by hand while the power is off?