I am not sure how to set up a system I am working on.
Essentiall I am revamping a large old stepper motor 3 axis mill used for sheets of plywood.
I am using a DMC-1886 and some Parker BE34 Servomotors. I have 2 of them on one axis that runs a gantry over the table and are connected directly to gears and racks on each side.
Should I be using electronic gearing to control one and then the other as a slave?
Also how would i tune it?
Thanks,
Brian
Galil_AndyH on 05/09/2011 - 15:39
Yes, you use two separate axes on the Galil, then gear the axes through electronic gearing. You want to gear off of commanded position instead of actual position. See the GA command in the command reference for details.
brplatz on 05/09/2011 - 15:58
Ah, perfect I thought it would be something like that.
Now how do I go about tuning, one then the other? Because when there running together each will be sharing the load, so it seems like I would have to tune them at the same time?
Galil_AndyH on 05/10/2011 - 08:41
Get them tuned individually, but then back off the parameters by ~20%. The load should be stable at this point and you can then tune when the axes are running together.
brplatz on 05/10/2011 - 09:10
Thanks Andy,
I really appreciate the fast replies, I'll give it a go today once I get everything all wired up.
Also on the programming aspect
GA, CX will set commanded position of X for the master of Y?
GR ,-1 will have it at the same speed as X but in the reverse direction correct?
Brian
brplatz on 05/11/2011 - 08:17
How should the GM be used, in the command reference it says
GM ,1 ;Sets gantry mode for X as Master and Y as slave.
Do I still need a GA ,CX Command?
The gantry I am working on is quite heavy and I would prefer to do all this right the first time.
Brian
Galil_AndyH on 05/11/2011 - 08:21
GM,1 is correct for Y axis as the slave. You still need the GA command, and the syntax for that is correct as well.
brplatz on 05/11/2011 - 09:41
Is it possible to use GR to to reverse the direction of the Y axis? Or does the GM make it so that Y is already "geared" to follow X?
Galil_AndyH on 05/11/2011 - 09:55
The gear ratio can be updated at any time during gearing.
brplatz on 05/16/2011 - 12:11
Andy
I have another issue. I can servo my motors currently and it seems i can successfully change the PID values also. However when I attempt to tune using the WSDK I get no movement.
When I attached it to my gantry setup, the system vibrates extremely violently at a nearly deafening tone.
Here is a photo of my tune attempts.
[img]http://i284.photobucket.com/albums/ll32/brplatz/error.jpg[/img]
Galil_AndyH on 05/16/2011 - 20:41
Brian,
Go ahead and e-mail support@galilmc.com and we will work with you directly.