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Submitted by Allen Morris on Thu, 08/04/2016 - 13:02

Hello,
I have a master/slave application where I am guiding a wire with my C axis (master) and the wire is being power fed by my D axis (slave). They are coupled by GRD=2.63***. When my motion starts the D axis pushes out too much wire at first then slowly decreases the speed until the end of the move. It acts like the acceleration of D is faster than needed and adjusts as the move continues. In GM, is the acceleration controlling the move or in the case where it is not in sync as well as I want, does KI need to be adjusted to keep the error down?
Thanks,
Allen

Comments 1

AndrewS on 08/31/2016 - 10:13

Hi Allen,
I would recommend plotting the positions on a software scope, such as the GDK scope. I would recommend plotting both RP and TP for the axes. Are you gearing off the master's reference or actual position? If it is the actual, remember that any tuning issues with the master will be reflected and increased in the slave. Additionally, is there a reason for the gear ratio of 2.63? Is that empirically determined or calculated?

Regards,
Andrew