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Driver Gantry Rigid Control Function

The driver gantry rigid control function synchronizes dual-drive axes motion for improved machining accuracy. It sends the same torque command to both axes to eliminate ineffective reaction forces. Key requirements include using multi-axis drives, absolute encoders, and the same motor/resolution for both axes. Automatic tuning functions are disabled under rigid control. Compatible functions include speed/torque filtering while vibration control is unavailable.

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0% found this document useful (0 votes)
93 views22 pages

Driver Gantry Rigid Control Function

The driver gantry rigid control function synchronizes dual-drive axes motion for improved machining accuracy. It sends the same torque command to both axes to eliminate ineffective reaction forces. Key requirements include using multi-axis drives, absolute encoders, and the same motor/resolution for both axes. Automatic tuning functions are disabled under rigid control. Compatible functions include speed/torque filtering while vibration control is unavailable.

Uploaded by

Sam eagle good
Copyright
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Driver Gantry Rigid Control Function


 
 
 
 
 
 
 
 
匯出日期:2022-11-21
修改日期:2022-06-09
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中文版 Mandarin Version: 驱动器龙门刚性控制功能  2022/11/21, 12:13

文件资讯 文件履历

目录
• Applicable Products
• Function Description
• Purpose
• Operating condition
• Related alarms
• Compatible function
• Quick Guide
• Use Settings
• A.Related Parameters
• CNC Controller Parameters Settings
• Driver Parameters Settings
• B.Tuning Process and Settings
• Case Studies
• Q&A

文件资讯 文件履历

Version Edit Date Edit Content Auther Revie Appr


No. w ove

v1.0 2020/08/30 Add Drive Gantry Rigid Control 刘宗昇


Function Description

 – 2
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1 Applicable Products
Model Driver OpenGui Analysis Controller FPGA Remarks
Version de Platfor Version Versio
Version m n
Version

Multi-Axis v5.0.5 v2.1.57 v2.1.17 Recommen - 1. Controller should maintain peer-


Drive  and and and ded to-peer coupling, and do not set
above above above above  slave axis as the monitoring axis.
10.118.12 2. Single-turn absolute only
(inclusive) support linear motor.

v3.0.2 1. Set slave axis as the monitoring


and axis.
above
or
v3.0.100
and
above

Servo - - - - Not support


Drive
II (Single-
axis II)

Servo - - - - Not support


Drive
I (Single-
axis I)

Applicable Products – 3
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2 Function Description
2.1 Purpose

Gantry rigid control uses the same torque command (without Notch Filter) to drive the dual-drive axis, and makes
the spindle follow the host position command to achieve the synchronous motion. 
Thus, there is no Ineffective  reaction force on the dual-drive axes, which reduces the occurrence of overcurrent and
provides better machining accuracy. 
Note:Ineffective reaction force means the torque that wastes energy when the dual-drive axes do not thrust but
pull each other.

2.2 Operating condition


• Multi-Axis drive must be used
• Dual-drive axes need to use the same encoder resolution
• Dual-drive axes need to use absolute encoder
• Dual-drive axes need to use the same type of motor
• If the dual-drive axis is a screw axis, the pitch and gear ratio must be the same.
• CNC controller must be equipped and can only be operated in position mode
• Only one group of gantry axis groups can be set, and one master axis can only correspond to one Slave axis

Function Description – 4
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2.3 Related alarms


Alarm No. Alarm Name Alarm Detection Mechanism

AL-505 Control mode not set 1. Gantry control does not support related application functions
properly controlled by position
2. Turn on the gantry control but want to enter a mode other
than the controller position mode

AL-527 Gantry control position The position deviation of the two axes under gantry control
feedback critical deviation exceeds the limit threshold.

AL-528 No origin point for gantry Gantry control have no setting the origin coordinate
control
1. Absolute encoder needs to record the origin position of the
first home searching
2. The incremental encoder needs to re-record the origin position
every time it is powered on

AL-921 Power off pull-up function is Gantry Control does not support power off pull-up function
not supported

AL-947 Parameter Setting Error Parameter settings are not matched with the specification of
gantry control 

AL-982 Gantry control position The position deviation of the two axes under the gantry control
feedback deviation is too exceeds the warning threshold
large

2.4 Compatible function


After the rigid gantry control is turned on, the automatic tuning and OPG functions cannot be performed(ex: Motor
tuning, Magnetic Pole angle detection, OPG jog...etc.). Please complete the related tuning in the peer-to-peer
coupling or no-load state.

Function Description – 5
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Under gantry rigid control mode

Compatible control function Unavailable control functions

1. Speed loop gain adjustment 1. N pulse


2. Torque filter 2. SOB
3. Speed filter 3. DOB
4. Notch 4. VDC
5. Position Notch 5. Cogging Compensation
6. Electronic gear ratio 6. Semi-closed loop control
7. Axial dual feedback control

Abbreviation Description:
1. SOB ( Speed Observer ) : Resonance compensation function, turn on the function by【Pn-340】Vibration
Suppression Function Select = 1 , Please refer to the detailed tuning SOP: 機床 150Hz-400Hz 之共振抑制功

2. VDC ( Vibration Damping Control ) : Vibration damping control function, turn on the function by【Pn-340】
Vibration Suppression Function Select = 2,Please refer to the detailed tuning SOP: Vibration Damping
Control Gain Tuning Function
3. N pulse ( Jitter Compenstation ) : Jitter compensation function, turn on the function by 【Pn-338】 Enable
Jitter Compensation = 1 , Please refer to the detailed tuning SOP: 抖动补偿功能SOP
4. DOB ( Disturbance Observer ) : Disturbance compensation function, turn on the function by 【Pn-430】
Enable Disturbance Compensation= 1 ,Please refer to the detailed tuning SOP: 扰动补偿功能SOP
5. Cogging Compensation: Cogging Compensation function, turn on the function by 【Pn-423】 Enable
Cogging Compensation = 1.
6. Position Notch:TCP(Tool Center Point) resonance suppression, turn on the function by 【Pn-250】
Position Notch Filter Enabling = 1 , Please refer to the detailed tuning SOP: End point resonance
suppression(Position Notch)Tuning Function
7. Axial dual feedback control:Turn on the function by 【Pn-22A】 Enable Pos Dual Feedback Control = 1 ,
Please refer to the detailed tuning SOP: "The Pos Dual Feedback Control Of The Linear Scales with Analysis
Platform"

Function Description – 6
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3 Quick Guide

Quick Guide – 7
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Quick Guide – 8
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4 Use Settings
4.1 A.Related Parameters
1. The two axes of gantry control need to set the same maximum acceleration and maximum jerk, so that the
acceleration of the dual-drive axis has the same performance.
2. When the gantry axis has some problems on mechanism(or motor) or the friction is too large, it might cause the
different acceleration performs with the same current feedback.
And this situation means that the greater speed deviation of two axes , the greater position deviation, which will
finally lead to the gantry control exceeding the position deviation warning check value.

4.1.1 CNC Controller Parameters Settings


* Represents the parameter have to reboot to take effect

Syntec controller Set value Remarks


Parameter No.

Pr9 *Servo board type 103 MIII communication

Pr21~Pr40 * Axis Set according to


corresponding axis card actual usage
port number

Pr41~Pr60 Axial motor Set according to The dual-drive axis needs to be set the same
polarity actual usage
If the dual-drive axis movement is reversed, please adjust
the setting according to 【Pn-020】

Pr61~Pr80 Axial encoder Set according to The dual-drive axis needs to be set the same
resolution actual usage
Single feedback: the resolution of the first feedback
encoder / 4

Pr81~Pr100 Axial encoder 4 The dual-drive axis needs to be set the same
scaling factor
Single feedback: The result of multiplying this parameter
and the resolution of Syntec controller parameter (Axial
encoder resolution) must be equal to Syntec driver
parameter Pn-902

Pr121~Pr160 Axial screw Set according to The dual-drive axis needs to be set the same
side gear number/motor reduction ratio
side gear number

Pr161~Pr180 Axial pitch Set according to The dual-drive axis needs to be set the same
amount (BLU) actual usage

Use Settings – 9
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Syntec controller Set value Remarks


Parameter No.

Pr201~Pr220 Axial sensor Absolute Encoder: The dual-drive axis needs to be set the same
type 3
Only supports absolute encoders

Pr441~Pr460 Axial rapid Set according to The dual-drive axis needs to be set the same
travel (G00) acceleration actual usage
time ~ 
Pr661~Pr680 Axial MPG
speed

Pr3821~Pr3822 *1st Master axis:1


coupling master/slave axis
Slave axis:2
number

Pr3823~Pr3824 *1st Set all to 1


coupling master/slave axis
ratio factor

Pr3825 *1st coupling 2 Select peer-to-peer synchronization coupling


type1st+coupling+type

Pr3828 耦合误差容许值 Set according to To avoid the position deviation of dual-drive axis too
(BLU)<沒有英文版> actual usage large.

4.1.2 Driver Parameters Settings


* Represents the parameter have to reboot to take effect

Item Parameter Name Parameter Remark


Description

Gantry control 【Pn-830】Gantry control axis 10:A first group


parameters group* of master axis
axis
11:A first group
of slave axis axis

Use Settings – 10
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【Pn-840】Enable 1st group Set 1 to start Enable gantry rigid control


gantry control
The dual drive axis
will be enabled
according to either
axis switched on of the
two axes.

【Pn-844】Enable 1st gantry Set 0 to close Start:The middle point


link axis position compensation of the coupling axis
follows the host
command
Close:The actual
position of the
coupling axis follows
the host command

【Pn-880】Absolute encoder Set on demand Automatically set when the


singleturn zero offset multi-turn position is reset

【Pn-570】 1st gantry position Set on demand Set 100% means that the warning
difference warning bound will not be triggered in advance

【Pn-572】 1st gantry position Set on demand


difference alarm bound

Enter the correct 【Pn-700】Motor Type~ Set according to The dual-drive axis needs to be
motor 【Pn-72C】Motor Winding Mode motor set the same
parameters specifications

Encoder and 【Pn-020】Host Command Set according to If the movement of the dual-drive
other related Polarity encoder axis is reversed, just set one of
parameters specifications them to 1

【Pn-20E】 Electronic Gear Set on demand The dual-drive axis needs to be


Ratio (Numerator)  set the same

【Pn-210】 Electronic Gear Set on demand The dual-drive axis needs to be


Ratio (Denominator) set the same

【Pn-306】 Maximum Set on demand The dual-drive axis needs to be


Acceleration Time set the same

【Pn-307】 Maximum Jerk Time Set on demand The dual-drive axis needs to be
set the same

Use Settings – 11
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【Pn-902】Encoder Resolution Set according to The dual-drive axis needs to be


encoder set the same
specifications

【Pn-904】Encoder Type 1:Multi Turn  Single Turn Absolute encoders


Absolute, 2: only support linear motor
Single Turn (【Pn-700】Motor Type = 1 )
Absolute
 After v5.0.5,  gantry rigid
control support Single
Turn Absolute encoders.

Enter the 【Pn-100】 Proportional Speed Set by tuning The dual-drive axis needs to be
recommended Loop Gain result set the same
gain parameters
【Pn-101】 Speed Loop Set by tuning The dual-drive axis needs to be
Integration Time Constant result set the same

【Pn-102】 Proportional Set by tuning The dual-drive axis needs to be


Position Loop Gain  result set the same

【Pn-103】 Ratio of Load Inertia Set by tuning The dual-drive axis needs to be
result set the same

【Pn-308】 Speed Filter Time Set by tuning The dual-drive axis needs to be
Constant result set the same

【Pn-401】 Torque Command Set by tuning The dual-drive axis needs to be


Filtering Time Constant result set the same

State Variable 【Pn-DD1】Position Monitor the


Feedback(ref unit) controller
position
feedback

【Pn-E7B】gantry control pos Monitor the


difference position
feedback
difference of the
dual-drive axis

Use Settings – 12
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4.2 B.Tuning Process and Settings


The following steps take the Multi-axis driver and the package axial permanent magnet synchronous motor(rotary),
and the dual-drive axes are all using single feedback as an example( assuming that the motor parameters, encoder
parameters, encoder polarity, magnetic pole offset and other parameters are correct). And the tuning process is
operated by the Syntec analysis platform.

Step Item Description

1 Finished the tuning process(without if using the package permanent magnet synchronous
load) for each axis motor can skip this step directly.
For linear motors please refer to 线马分析平台调适
手册 SOP

2 Verify the host polarity of the dual-drive Obtain the 【Pn-D22】Position Feedback (32 bit) of
axis the dual-drive axis through the oscilloscope.
Confirm whether the position feedback of the dual-
drive axis is in the same direction while moving in the
same direction (hand push table, OPG jog, or
handwheel movement);
If they are not in the same direction, modify
【Pn-020】Host Command Polarity of one axis(0 to 1,
1 to 0).
It is recommended to add a load (coupling axis) after
confirming the host polarity.
Notice: Pr41~Pr60 Axial motor polarity the dual-drive
axis needs to be set the same, not reversed

Use Settings – 13
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3 Enable controller peer-to-peer coupling 1. Pr3821~Pr3822: *Axis coupling master axis_slave


axis number. Set master axis to 1, and slave axis
to 2
2. Pr3823~Pr3824: *Axis coupling master axis_slave
axis component. Set all to 1
3. Pr3825: *axis coupling type. Set peer-to-peer
synchronization coupling to 2.
4. Pr3828: Coupling error tolerance(BLU). Set
according to actual usage
5. Establish a PLC ladder diagram so that C46 can be
self-maintained (When C46 is triggered on, start
the peer-to-peer synchronization coupling,
otherwise, cancel the peer-to-peer
synchronization coupling)
Ladder diagram example

Reboot after power off

Use Settings – 14
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4 Load inertia ratio estimation Move the coupling axis to the middle point, use
Syntec Auto Servo APP of the analysis platform to
perform dual-drive tuning(refer to Syntec Auto Servo
5 Semi-automatic resonance suppression
App)。
tuning
Screen instructions
6 Speed loop automatic gain tuning Check the dual-drive axis, select all three tuning
functions, set the stroke limit and axis group
number, and press "Start Tuning".
After the tuning is completed, the analysis
platform will automatically write the tuning
parameters.
"One-Button Package " is designed for if the user
want to package the tuning data..

If the load inertia of the dual-drive axis is different


after tuning, the user need to manually set the load
inertia of the two axis to the average of the two. (refer
to 分析平台操作手册#参数总表画面)
Example: axis one Pn-103 = 300, axis two Pn-103 = 500
[The average load inertia of the dual-drive axis is 400,
so the load inertia of both axis is changed to 400 ]
=> axis one Pn-103 = 400, axis two Pn-103 = 400

7 Controller peer-to-peer coupling trial Using the CNC controller to test jog for ensuring that
operation the operation of peer-to-peer coupling trial can jog
smoothly.

Use Settings – 15
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8 Set gantry control axis group Pn-830: *gantry control axis group。Set the master
axis to 10, and the slave axis to 11.
Reboot after power off
Note: After setting up the gantry control axis group,
power on again, the【Pn-102】 Proportional Position
Loop Gain, 【Pn-101】 Speed Loop Integration Time
Constant, 【Pn-401】 Torque Command Filtering
Time Constant of the master axis will be synchronized
to the slave axis. Therefore, the gain of the dual-drive
axis will be the same (only when the power is turned
on, it will be synchronized once).

9 Encoder reset & mechanical origin 1. Move the dual-drive axis to the origin position,
setting then press ServoOff.
2. Use the controller to reset the encoder of the
dual-drive axis (refer to 1. Serial Parameter
Screen (10.116.54L~)  #1-2.  Absolute Home Setup
and Encoder Reset Instructions).
3. Set the mechanical coordinate origin of the dual-
drive axis  (refer to 1. Serial Parameter Screen
(10.116.54L~)  #1-2.  Absolute Home Setup and
Encoder Reset Instructions)。
Note: After encoder reset, 【Pn-880】Absolute
encoder singleturn zero offset will be set
automatically, the position feedback of the master
and slave axis will return to 0.

10 Set the slave axis as the monitoring axis


 After v5.0.5,  gantry rigid control type use
peer-to-peer coupling, do not set slave axis
as the monitoring axis.

Establish PLC ladder diagram to make the slave axis


set as the monitoring axis. ( To make the monitor axis
self-remaining, the corresponding setting bits are
C31~C34, C245~C258.)
Ladder diagram example
Set the Y axis of the slave axis as the monitoring
axis。( The corresponding bit is C32 )

Use Settings – 16
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11 Turn on gantry rigid control 1. 【Pn-570】 1st gantry position difference


warning bound:Set according to actual usage.
2. 【Pn-572】 1st gantry position difference alarm
bound :Set according to actual usage.
3. 【Pn-840】Enable 1st group gantry control Set it
to 1。Turn on gantry rigid control.
Note1: There is no need to specifically close the
controller peer-to-peer coupling. After the gantry
rigid control is turned on, the function of  controller
peer-to-peer coupling will be defeated automatically.
Note2: After v5.0.5, do not close the controller peer-
to-peer coupling.

12 Gantry rigid control test run Using the CNC controller to test jog for ensuring that
the gantry can jog smoothly.

Note: For the description of PLC C bit, please refer to PLC Interface.

Use Settings – 17
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5 Case Studies
Case I : Coupling with the dynamometer
Experimental Settings
Driver Model:SMD-34A-50150-22
Motor Model:Mitsubishi HG-SR5024J-S230810 (Same motor on both sides)

Environment Driver

Motor nameplate

Driver nameplate

Tuning process
1. Single feedback tuning(Without load):Skip this step, because the experimental settings using the
package motor.

2. Verify the host polarity of the dual-drive axis:

Case Studies – 18
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Rotate in the same direction by hand, the position feedback of the two axes will change reversely.
Therefore, choose the one(slave axis) of two axes and set  Pn-020 = 1.
Master axis Slave axis

3. Enable the CNC controller function of peer-to-peer coupling:Finished settings

4. Load inertia ratio estimation.


5. Semi-automatic resonance suppression tuning.
6. Speed loop automatic gain tuning:
Select above three tuning functions( 4, 5 & 6 ) and finish them together.
Before tuning After tuning

After finished tuning, the load inertia of the master and slave axis is separately obtained 0% and 2%.
As the different load inertia ratio  obtained from experiment, the user needs to manually modify the load
inertia ratio as average value, for example, the average value of load inertia ratio is equal to 1% in this
case.

7. Controller peer-to-peer coupling trial operation:Jog test normally.

8. Set gantry control axis group:Finished settings.

9. Encoder reset & mechanical origin setting:Finished settings.

10. Reset electronic gear ratio:Skip this step in this case, because of the gantry without coupling axis.

11. Turn on the position compensation of the coupling axis:Skip this step in this case, because of the
gantry without coupling axis.

12. Set the slave axis as the monitoring axis:Finished settings.

Case Studies – 19
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13. Turn on gantry rigid control:Finished settings.

14. Gantry rigid control test run:Jog test normally, the tuning process is finished.
Case II: Suda Gantry Laser Cutting Machine
Experimental Settings
Driver Model:SMD-24A-2020-03
Motor Model:Difficult to query when installed in a mechanism

Environment Driver

Tuning process
1. Single feedback tuning(Without load):Skip this step, because the experimental settings using the
package motor.

2. Verify the host polarity of the dual-drive axis:


Rotate in the same direction by hand, the position feedback of the two axes will change reversely.
Therefore, choose the one(slave axis) of two axes and set Pn-020 = 1.
Master axis Slave axis

3. Enable the CNC controller function of peer-to-peer coupling:Finished settings

4. Load inertia ratio estimation.


5. Semi-automatic resonance suppression tuning.

Case Studies – 20
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6. Speed loop automatic gain tuning:


Select above three tuning functions( 4, 5 & 6 ) and finish them together.
Before tuning After tuning

After finished tuning, the load inertia of the master and slave axis is separately obtained 208% and
177%. 
As the different load inertia ratio  obtained from experiment, the user needs to manually modify the load
inertia ratio as average value, for example, the average value of load inertia ratio is equal to 192% in this
case.

7. Controller peer-to-peer coupling trial operation:Jog test normally.

8. Set gantry control axis group:Finished settings.

9. Encoder reset & mechanical origin setting:Finished settings.

10. Reset electronic gear ratio:Skip this step in this case, because the position feedback of the full stroke
coupling axis is not overflow.

11. Turn on the position compensation of the coupling axis:Finished settings. (This function is currently
not recommended to use)

12. Set the slave axis as the monitoring axis:Finished settings.

13. Turn on gantry rigid control:Finished settings.

14. Gantry rigid control test run:Jog test normally, the tuning process is finished.

Case Studies – 21
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6 Q&A
1. When MOT-008 Loss Pulse alarm occurred during operation ?
A: Gantry rigid control will make sure the position of the operating point follow the host command, but
cannot ensure that the position feedback of a single axis follows the host command. The MOT-8 alarm will
be triggered while the position deviation of a single axis exceeds the alarm threshold between the host
command and feedback.
The value of  Pr561~Pr580 Axial loss pulse check window can be adjusted more larger to avoid the MOT-8
alarm.
    
2. Does the Ineffective reaction force of gantry control must be equal to 0 ?
(Note: Ineffective reaction force means the torque that wastes energy when the dual-drive axes do not
thrust but pull each other.)
A: The gantry rigid control will drive the dual-drive axis with the same torque command. the dual-drive axis
have the same settings of Notch filter, the ineffective reaction force must be 0.

3. Why does AL-527 Gantry control position feedback critical deviation alarm will be triggered during the
operation, even with the same experimental settings which equipped the same model of motor(with
the same parameter) and without mechanical coupling ?
A: The gantry rigid control will drive the dual-drive axis with the same torque command with the same
motor. However, even with the same model of motor, there are slightly different between the motor of
assembly error, friction and characteristics. Generally, the same two motors which is not coupled together
will have more position deviation than the coupled one, even with the same torque command. And the
AL-527 alarm will be triggered with the 【Pn-572】 1st gantry position difference alarm bound alarm
threshold is exceeded.

4. Why the mechanical coordinate need to set the origin offset ?


A: The correct position deviation of the dual-drive axis is specified to the same base of position feedback.
 
5. Why the slave axis need to set as the monitor axis ? 
A: 1. This settings make the slave axis will not check the missing position command to avoid the MOT-8
alarm.
    2. After v5.0.5,  gantry rigid control type use peer-to-peer coupling, do not set slave axis as the monitoring
axis.
 
6. The position loop gain setting is not mentioned in the tuning process. How to set the position loop
gain ?
A: Generally the position loop gain value (【Pn-102】 ) is set two times of the speed loop gain (【Pn-100】 )
value (ex: Pn-102 = 800, Pn-100 = 400). However, in the gantry control case, the position loop gain of each
axis need to choose the smallest and set as the same value to achieve synchronous motion.
For example, the 1st, 2nd and 3rd axis' position loop gain(Pn-102) separately  represents the value of 800,
600 and 1000. To achieve the each axis synchronous motion, the smallest position loop gain of each axis
must be modified as 600.
=> The result shows that 1st, 2nd and 3rd axis' position loop gain is separately modified as 600(Pn-102 =
600). 

7. After the tuning process is completed, what if the user want to reset the mechanical origin ? And which
step need to execute ?
A: 1. To reset the origin of the dual-drive axis, firstly, turn off the gantry rigid control (【Pn-840】 = 0), cancel
the monitoring mode of the slave axis, turn on the peer-to-peer coupling of the controller, and then repeat
step 9. for the dual-drive axis (including step 9.).

Q&A – 22

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