noxcuses
Member
Hello !!!
I'm commissioning a system that has two Kinetix 5700 Drives/motors going to driven wheels on the same physical axis. To keep them synced, I have them both geared to a virtual master. This works as expected.
The system is a pick and place gantry, so positioning is very important. I home the three axis at the same time in which they all read the same actual position afterwards. After running awhile I've noticed the Virtual actual position and slaves don't match. On some occasions I've noticed the virtual vs slave position gets off quite a bit when the tool hits something while teaching points.
I've used this method of gearing before with good results in different applications. I'm wondering once running in Auto mode if the position will get off and crash. I've added logic to compare each scan and fault if too far apart. That seems a bit goofy though.
I've checked scaling and repeatablilty. The abs encoders on the two MPL servo motors always read very close to the actual physical position. The virtual is the only one that is not correct. Any suggestions on what to do to keep them synced or what could be causing them to read differently?
I'm commissioning a system that has two Kinetix 5700 Drives/motors going to driven wheels on the same physical axis. To keep them synced, I have them both geared to a virtual master. This works as expected.
The system is a pick and place gantry, so positioning is very important. I home the three axis at the same time in which they all read the same actual position afterwards. After running awhile I've noticed the Virtual actual position and slaves don't match. On some occasions I've noticed the virtual vs slave position gets off quite a bit when the tool hits something while teaching points.
I've used this method of gearing before with good results in different applications. I'm wondering once running in Auto mode if the position will get off and crash. I've added logic to compare each scan and fault if too far apart. That seems a bit goofy though.
I've checked scaling and repeatablilty. The abs encoders on the two MPL servo motors always read very close to the actual physical position. The virtual is the only one that is not correct. Any suggestions on what to do to keep them synced or what could be causing them to read differently?
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