I bought the WSTK software but have not been able to get it to operate correctly. I have had to uninstall CAMSOFT Pro to get it to work, but the auto tuning routines do not work. Under "Diagnostics" I can get the motor to do a dynamic test where it moves a small amount and shows the step response, but under any of the autotune modes it always comes up with the error message "motor not moving" (or similar wording).
Under "Diagnostics" & "Dynamic Test". I am puzzled by the units. A step test should be in units of steps (or position), but it is given as volts. The graph shows no units so I can only assume that it is in steps or position units, but this changes with the PID settings. The manual does not explain how to use this section or how to interpret it.
Because I have only been able to use this "Diagnostics" mode, I have no idea that the PID values I have chosen (to show the best response on the graph) are the right ones for the machine.
I have had to go back to the CAMSOFT installation now to use the machine. I have read some of the postings on The CNCZone BB UG regarding driver conflict. In order that I can run both pieces of software togeather, can you give me an exact procedure to delete or install the drivers. I need to know the names of these driver files. Our CAMSOFT installation was done about 18 months ago.
Regards,
Colin
Allied machining Services Ltd
Auckland,
New Zealand
Galil_AndyH on 01/18/2007 - 10:33
The dynamic test is used to test how well your system responds to an open loop step response. To do this we send a pulse to the amplifier at a configurable voltage and time duration. (The Galil controller outputs a +/-10V signal to the amplifier). If your system can hold position and not become unstable, then it can take an instantaneous pulse of the magnitude and time duration that you specify. The units are time on the X axis and counts on the Y axis.
If you are getting no movement when you try and do an Auto Tuning function, then there may be something wrong with your system. If you are connected over a serial connection or are using a bus controller, master reset the controller - Open the terminal window and choose Options/Master Reset Controller. If you are connected over ethernet, I would still recommend this, but you will have to reassign your IP address and reconnect to the controller. Master Reseting the controller will clear all of the memory from the controller, make sure you backup your programs and settings.
Once you have Master Reset the controller, try the Auto Tuning methods again. If they still don't work, open the editor window and try and do basic moves. Ex PR1000 then BGX will command the motor to move 1000 counts. Check TP and RP after you do this, what are the values? Check the torque output (TT), what is that value?
If you go to the Add/Remove programs and uninstall WSDK, then it will remove the files that are necessary to run Camsoft. I do not know which files conflict with the Camsoft software, you will need to talk to Camsoft about that. The newer version of Camsoft is not supposed to have this issue, but if your version does, then you cannot run WSDK and Camsoft at the same time.
Swarf on 01/18/2007 - 19:41
Thanks Andy for that detailed reply. I will try a master reset as you suggest but I will have to wait until the machine is free and then load WSDK again.
With reference to the diagnostic dynamic test mode again, I understand what you are saying, but the actual operation seems to be a bit different from the settings. The machine does move first positive, then negative, but the setting seems to set the gap between pulses not the actual length of a pulse. Should I be trying to tune for a squarish response or a positive and negative hump as shown on page 25 of the PDF manual.
Colin
Galil_AndyH on 01/19/2007 - 07:56
What you are seeing for the second pulse is actually you system reacting to the change from some voltage to 0V. A straight offset will cause the PID's to output a voltage of similar magnitude in the opposite direction (if you are properly tuned). When the offset is set back to 0, it is actually similar to going from 0 to some negative offset.
You can see this if you set your PID's to 0 before you do the dynamic test. The motor will just spin in one direction.