Editing Setting up parellel motors (two motors driving one gantry)
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| Motors tend to fight against each other during operation due to lead screw pitch error or feedback device inaccuracies || This is not a problem in systems where some mechanical flexibility is present between the parallel motors. Flexibility reduces the fighting force to insignificantly small. | | Motors tend to fight against each other during operation due to lead screw pitch error or feedback device inaccuracies || This is not a problem in systems where some mechanical flexibility is present between the parallel motors. Flexibility reduces the fighting force to insignificantly small. | ||
− | + | Some more advanced control may be required with highly rigid machines. | |
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| Servo motor tuning may need to be done for single axis at the time. || This is possible due to the same mechanical flexibility reason as above servo fighting issue. The trick is to use very small travel when tuning the motors to avoid causing excess bending forces to the mechanics. See more info in the next chapter. | | Servo motor tuning may need to be done for single axis at the time. || This is possible due to the same mechanical flexibility reason as above servo fighting issue. The trick is to use very small travel when tuning the motors to avoid causing excess bending forces to the mechanics. See more info in the next chapter. | ||
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It is highly recommended to do basic setup of motors with unconnected load (non mounted shaft). Basic setup includes setting motor parameters, torque tuning and, most importantly, testing motor's ability to stand still in position mode from the moment of power-up to entering into step response tuning. | It is highly recommended to do basic setup of motors with unconnected load (non mounted shaft). Basic setup includes setting motor parameters, torque tuning and, most importantly, testing motor's ability to stand still in position mode from the moment of power-up to entering into step response tuning. | ||
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