How to use autotune for yaskawa servo drives in slaved configuration
Hi All,
I've just gotten a new chinese cnc router and I'm working out the kinks. The main thing that I am working on is some chatter like lines on the edges of my circles and diagonals. I've detailed it elsewhere but bottom line is I'd like to take a stab at using the autotune function and I think I can sort it out for the x axis drive (with all the skill a political science degree offers) but not sure after extensive searching how you tackle the Y when it has a slaved 'a' (I think).
What do I need to do to tune each of the Y drives? Disconnect one and run the autotune one at a time or disconnect and run autotune on one and then manually type the same settings into the other? Or might the settings for the X be appropriate to the Y as they are on the same drive system (though the weight would differ significantly). Not sure yet which is Y and which would be A...
The motors are SGM7G-09AF C61 and the sevo packs are SGD7S-7R6A00A (002 on the box but not on the pack)
My controller is a syntec 6md which has very very limited documentation (and for now I'm assuming I've gone further than factory 'support' will go) and the parameters seem to be controlling the drives with a/b which I believe is step and direction. I've tried parameters related to x axis loop gain (and Y but it threw up a regenerative positioning error (which as it is a translation - might not make any sense) so I reverted to factory setting) and smoothing and some accel/deccel response times but no change noticeable. I should note that I assumed going in that I'd be on my own for stuff like this so that's why I am looking at a DIY approach rather than complaining to the factory in China.
The installation manual for another syntec controller has been of some help in the parameters but the way it describes the setting up of the Mitsubishi drives is a very poor translation and not a direct comparison at any rate. Nor does it say anything about slaved drives (nor do any Yaskawa videos etc). I've also looked at a centroid tech bulletin (as I had centroid and thought it might point me in the right direction ) but they don't go into slaved axes either (as mostly they do mills which wouldn't have them) though I can touch base with my old centroid guru and see if he has any paid advice on this (but again its apples to mandarins in this case).
Also on the off chance anyone that has done this with a syntec 6m series, any pointers would be greatly appreciated though I plan to attempt the x this evening so fingers crossed. I'll post again if I can or can't figure out the X.
In case anyone is wondering, I'm the twin of the other gfacer on cnczone...