I have recently retrofit a Daihatsu PNC-L56 lathe with a Galil DMC 1832 and using Camsoft Software. I am trying to tune the servo motors and would like to believe that the amps are tuned correctly for the motors since they where factory installed on the machine. I haven't change any settings on the amps. The problem is that when i set the PID values to 0 my motors start drifting. I was wondering if it is possible that i have a wiring issue. If i leave the PID to default the motors jog in the proper direction but when not moving they bounce slightly creating error position and causing the software to lag waiting for the motors to hold position.
Galil_AndyH on 03/20/2008 - 10:25
When you have the PID's off, the controller does not adjust for error, but the amplifiers are enabled. So if there is any analog offset between the drive gnd and the motor command, the amplifier will send a proportional amount of current to the motor. You can try to use the OF command to adjust for this, but a properly tuned motor should not have a problem.
With the PID's as a default, you probably just have a poorly tuned motor. Use Camsoft tuning or WSDK to tune your motors for your system. If you need assistance with the tuning, start by reading our application note on manual tuning methods. It explains how the tunning parameters available on the controller affect the performance of your system.
http://www.galilmc.com/support/appnotes/optima/note3413.pdf