Today I loaded the X-axis Table up with about 140lbs of steel and tested the Error base on the current final working X-axis servo "Step Response" Values (P,I,D, V, A, J,) over a the 10,000 count move.
The Error plot and Command/Position Plots look the same as the plots without the load. However, I did see less dithering at the pulleys (physically oscillating) but the error plots still is hunting at zero.
I also noticed with a load on the table when I move with a count of 10,000 I no longer get an exact move of .500" on my dial indicator. It moves .493" and then back to zero.
Can I assume that this will be addressed later?
I was able to barrow a Gates Sonic Tension Meter (model 508C) to check the tension on all three servo belts.
Based on the information I found the X-Axis and Y-axis checked within a couple of Hz; however Z-axis needed adjusting.
Span Length Formula:
S = √(CD^2- (D-d)^2/4)
Where: S=Calculated Span Length (mm)
CD=Center Distance (mm)
D=Large Pulley Dia. (mm)
d=Small Pulley Dia. (mm)
X-Axis:
Brand Belt: Bando Synchrolink
Number on Belt: 270L-0756 (SB-26)
PowerGrip Timing Belt – L (0.375”)
Mass Constant = 3.2 g/m
Belt Width = .750”
Frequency on Correctly Tensioned Belt: 52Hz
Speed Ratio =0.500
Pitch Diameter of the Large Pulley (26 tooth) = Ø3.104”
Pitch Diameter of the Small Pulley (13 tooth) = Ø1.552”
Center to Center axis span (used in formula above) = 9.8125”
Checked Belt Tension was at a Frequency of 50-51 Hz.
Y-Axis:
Brand Belt: Bando Synchrolink
Number on Belt: 322L-0756 (0949)
Mass Constant = 3.2 g/m
Belt Width = .750”
Frequency on Correctly Tensioned Belt: 52Hz
Speed Ratio =0.500
Pitch Diameter of the Large Pulley (30 tooth) = Ø3.581”
Pitch Diameter of the Small Pulley (15 tooth) = Ø1.790”
Center to Center axis span (used in formula above) = 11.8125”
Checked Belt Tension was at a Frequency of 52-53 Hz.
Z-Axis:
Brand Belt: Bando Synchrolink
Number on Belt: 225L-100G
Mass Constant = 3.2 g/m
Belt Width = 1.00”
Frequency on Correctly Tensioned Belt: 128Hz
Speed Ratio =0.400
Pitch Diameter of the Large Pulley (30 tooth) = Ø3.581”
Pitch Diameter of the Small Pulley (12 tooth) = Ø1.432”
Center to Center axis span (used in formula above) = 7.250”
Checked Belt Tension was at a Frequency of 128-129 Hz.
Microsoft Word Doc of the above Belt Frequency Settings
Please advise if errors exist.
.....
.....
J325 Quick Links:
Machine
Existing Machine Schematics
Electronic Cabinet-Right Side
Electronic Cabinet-Back SIde
Existing Drive Board SD1525-10
J325 Servo Drive-SD1525 Manual
3-Phase Rotary Convert Used
RickB's J325 Retrofit Wiring
KFLOP 5VDC/15Watt/3A Power Supply
KANALOG Mounted & Connected
Kmotion - Axis Encoder Manual Test of Position via Manual Movement
Kanalog-Encoder Voltage High/Low Checks & 1KOhm Resister
Kmotion Configuration Screens "RUN-AWAY"
Tree Journeyman 325 Designed Specs."
Tree Journeyman 325 Axis-Tension Frequency Settings"
.....
.....