Цитата(termsl @ 28.7.2013, 14:29)
А каждая серва настраивалась подключением напрямую к COM порту спец кабелем в утилите DMMDRV?
Все в соответствии с их ответом. Но я проверяю сейчас только Z, пробовал еще по Y но там рейка и нужно будет настраивать backsplash. Приведу их ответ дословно, может кому поможет в будущем.
According to your machine specifications here are my calculations for the servo and machine tuning:
*The MAX_SPEED and MAX_ACCELERATION parameters in the DMMDrv program are not used when using an external CNC controller such as Mach3. So their setting does not matter for your application. The maximum speed and maximum acceleration are controlled by Mach3 in the Motor Tuning section.
Z axis:
- Since the ball screw is a very fin pitch, the load mass is no problem. The 400W motors paired with a direct drive 5mm pitch has a theoretical maximum load of over 700kg
- Travel resolution = 5mm/rev / 16,384points/rev = 0.0003mm (depends on resolution / backlash / accuracy of ball screw and motor coupling).
- Max rapid speed = 3000rev/min * 5mm/rev = 15000mm/min = 590IPM
1mm / 5mm = 0.2rev per 100 pulse from Mach3 = 500pulses per revolution
Unfortunately, this pulse resolution from Mach3 is too low for our servo drives. The minimum pulse per revolution setting for our servo drive is 2000pulses per revolution (corresponding to a GEAR_NUM value of 500).
*The GEAR_NUM parameter is internally multiplied by 4 to select the pulses per revolution number - so "500" = 2000 pulses per revolution
Use "500" for the servo drive GEAR_NUM, then tune the motor settings in Mach3 to a higher resolution to achieve your target. With a 5mm pitch ball screw, you will need 400 pulses from Mach3 to travel 1mm.
Recommend Tuning (Z axis):
Gear_Num - 500 (minimum setting)
Main Gain - 60
Speed Gain - 40
Integration Gain - 40
Torque Filter Cons - 127
Y Axis:
- Maximum load mass = 518kg
- The Gear_Num and resolution setting is the same as above for the Z axis. Set Gear_Num to 500, then tune the ratio in Mach3 Motor Tuning setting.
Recommend Tuning (Z axis):
Gear_Num - 500 (minimum setting)
Main Gain - 70
Speed Gain - 60 (Decrease if motor becomes noisy)
Integration Gain - 30 (Decrease if overshooting happens for fast acceleration/deceleration)
Torque Filter Cons - 127
X Axis:
- Maximum load mass = 518kg
- Same situation above for resolution and travel tuning.
Recommend Tuning (X axis):
Gear_Num - 500 (minimum setting)
Main Gain - 80
Speed Gain - 60 (Decrease if motor becomes noisy)
Integration Gain - 20 (Decrease if overshooting happens for fast acceleration/deceleration)
Torque Filter Cons - 127