This is my first time tuning a servo PID, specifically a kinetix 5100 driving a MPL servo on a machine. Despite being satisfied with the servo's behavior after auto tuning and making minor adjustments, I have noticed that the servo motor produces a high frequency noise when holding position. I am uncertain if this is normal and have not been able to find much information on noise during stationary operation. Although I believed the InPositionWindow parameter would prevent the drive from supplying current within the window, I am still experiencing some holding current. It is important to note that the drive is not under any load when stopped. I am utilizing add on instructions in rslogix to control the drive in I/O mode.
After researching, I came across posts regarding a comparable type of drive made by different companies mentioning that the noise is attributed to the PWM frequency. It seems that this noise is inevitable as long as the servos are in operation, making it a normal occurrence.
In the process of setting up a Kinetix 5100 on a machine with an MPL servo, I encountered some issues while tuning the servo PID for the first time. Despite auto tuning and minor adjustments, the servo motor emits a high frequency noise when holding position and enabled. I have been unable to find sufficient information on this issue, particularly regarding noise when the servo is not in motion. I initially believed that setting the InPositionWindow parameter would eliminate current flow within the window, but some holding current persists. The machine is not under any load when stopped. To address this, consider adjusting the notch filter setting and enabling the load observer for improved tuning. There are numerous resources available, such as tutorials and white papers, that cover the basics of utilizing load observer, notch filters, and adaptive tuning in this setup.
Robertmee suggested adjusting the notch filter setting and enabling the load observer for optimal tuning. There are numerous tutorials and white papers available that cover the basics of using load observer, notch filters, and adaptive tuning. It is important to note that the load observer is typically used for CIP motion axis drives like the 5300, 5500, and 5700, whereas this drive is standalone and not tuned in a studio environment. Some notch filters have been set by the drive during auto tuning, but adding a third notch filter and manually tuning may help alleviate any whining noise when the drive is stopped.
According to patrickmoneyy, the Load Observer feature is typically used for CIP motion axis drives such as the 5300, 5500, and 5700. This drive operates independently and is not configured in the studio. During auto tuning, some notch filters are automatically set on the drive. To address a potential whining noise when stopped, patrickmoneyy plans to add a third notch filter and manually adjust the settings. It appears there was a misunderstanding as the drive model in question is actually the 5100. Experimenting with the notch filters is recommended, as the auto tune feature may be overly aggressive. Adjusting the gains could also help. Are you primarily utilizing position or velocity control?
Optimizing position control. After experimenting with the autotuner, I discovered that tuning it at a higher RPM resulted in lower gains. I tested different RPM settings but ultimately synced it with the RPM of my process index. The movement performs well and operates quietly, except for a slight high-pitched whine when the Servo On command is activated, especially when the motor is still. It would be more convenient if the autotuner didn't require the motor to reverse, as not all loads are designed for backward movement. Yaskawa offers helpful Youtube tutorials on tuning their servos. Their software offers additional features and some parameter variations, but remains sufficiently similar to be applicable.
It sounds like you're off to a great start with tuning your servo! High-frequency noise when the servo is holding position can be pretty common, especially in high-performance applications. It could be due to the PID parameters being a bit aggressive or perhaps a frame resonance issue with the mounting setup. Even when the InPositionWindow is set, some holding current is often necessary to maintain position and prevent overshoot. You might want to experiment with your PID gains, particularly the integral and derivative values, as they can influence the noise level. Additionally, try to see if any mechanical adjustments or isolating the servo might help reduce vibrations that contribute to the noise. Keep at it, and you'll likely find the sweet spot!
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Answer: Answer: The high-frequency noise during stationary operation could be caused by various factors such as improper tuning of the servo PID, electrical interference, mechanical issues, or software settings.
Answer: Answer: While some level of noise can be expected during operation, excessive or high-frequency noise may indicate an issue that needs to be addressed.
Answer: Answer: Double-check the InPositionWindow parameter settings to ensure that it is configured correctly to prevent the drive from supplying current when the servo is within the specified window.
Answer: Answer: There could be other factors contributing to the holding current, such as software configuration, external influences, or mechanical issues that need to be investigated further.
Answer: Answer: To identify the root cause of the high-frequency noise, consider checking the servo tuning, electrical connections, mechanical components, and software settings. Troubleshooting step by step will help pinpoint the source of the noise.
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