Editing Setting up parellel motors (two motors driving one gantry)
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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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− | | Motor fault stopping must be synchronized to avoid only one motor driving the axis and | + | | Motor fault stopping must be synchronized to avoid only one motor driving the axis and one acting only as load which may cause excessive stress to mechanics. || This is possible by electrically wiring fault stop output signal to parallel axis enable input (some external logic may be needed). Another way is to connect fault output to the master [[controller]] which will disable all axis with low latency once fault occurs. |
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| Motor initialization must not produce any uncontrolled motion. || This is problem only with AC/BLDC motors without Hall sensors and [[homing]] function with automatic start after drive power-on. See more info in the next chapter. | | Motor initialization must not produce any uncontrolled motion. || This is problem only with AC/BLDC motors without Hall sensors and [[homing]] function with automatic start after drive power-on. 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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