Need a bit of guidance please on tuning my VSD-XE drives , running a 1500w 70vdc linear psu and 940W Motionking AC servo motors.
I have set the position tuning in bench testing, the motors on command from MACH3 position quickly and reliably. However using the ever so dodgy "hand squeeze test" on motor shaft indicates to me I could get more stiffness.
I can easily force shaft to move position on a stationary motor, or slow the moving rotor, by hand friction grabbing the 4cm diameter coupling on the motor shaft, which for this combination I would expect higher stiffness and response.
So I have trawled the forums and found indications that perhaps I am doing something wrong. Since I am using position mode for my cnc I assumed I would only need to tune position so I have the PID position settings adjusted. Some forum posts have suggested that I need to tune all three velocity torque and position. Is this correct or do I just tune position?
Otherwise the system is behaving and stable and not faulting,
I had early issues with the PIV being crazy and untunable, so I used PID. And I stopped using the hall sensors for startup phasing and just let it settle. Now while bench testing with mach3 I am getting long test periods running for 18hours+ without a fault trip of any kind on both drives and motors x and y axis so at least a good start I think.
So in a nutshell although its stable, how do I get more stiffness? Do I need to tune all three modes position / velocity / torque ?
cheers
Richard