I currently have my two VSD-Es, one in dual DC, the other in parallel DC.
In dual DC mode, I am running two KL23-130-60, for X and Y axes, current limits set at 11A cont. 20A peak. I increased following error on both axes to 16383 (the max allowed) to see if following error was actually the issue. 16383 counts works out to 2 rotations of the motor shaft.
While trying to move the axes, even with small movements they consistently fault to "Recovering from follow error or from disabled state" and slowly drive to the position. However, on one axis I am able to crank the lead screw to essentially move the axis way out of position - The drive should fail, giving "following error" however, it doesn't, it actually thinks it's fine, with no error codes, and if I let go after winding it to the other end of its travel, it will rotate very quickly back to its original location - almost like pulling back on a spring and letting it go.
Previously I was concerned that the motors weren't powerful enough, however, given the immense speed it can drive the axis after letting go, I now no longer believe that is the problem.
So, my questions are:
- Why am I not getting following errors when moving the machine by hand, overpowering the servos.
- Why is the drive entering recovering from following error while jogging the machine around when it is clearly powerful enough to drive the axis
If there is any other information that would assist you in helping me, let me know.