Hi!
I am using 18x2 controller. Right now i have three servomotors to be controller. All are panasonic motors and drive. They are connected in velocity mode. Two of the drives are of 2.4 Nm & 750 watt and one is 1.8Nm & 400 Watt.
With two 750W motors I am able to tune them using general tuning and then adjust the gains manually based on the step response.
With the 400W motor, the moment i increase the gain of Kp greater than 0.125 and kd value (ranging from 5,10 ,20 or any value) the shaft of the motor starts to rotate and i dont have any control over the shaft rotation. The only way i can stop the shaft rotation is by keeping the Kp value to 0.
With the Kp value set to zero no movement is possible in the controller. Can someone help me in overcoming this problem.
Galil_AndyH on 10/03/2012 - 09:45
Arun,
It sounds like you may have reverse polarity on your feedback loop, swap A+/A- on the encoder (recommended). The other option is to change MT. The default for MT is 1, change it to -1 (or back to 1 if you already have it set to -1).