Back to top
Enabling Gantry Mode, AKD2G
I need to configure an AKD2G drive to operate a gantry. There are two AKM2G motors working in unison along a single axis to move the load.
I'm running into trouble configuring the drive to enable this mode without manual intervention via Workbench. The option to use DIN to change the command source is missing the Gantry option, as seen below.
Both motors must be homed before Gantry can be enabled on Axis 2. If the drive power-cycles, the motor home positions are lost and must be reset (correct?). So I have both axes set to boot up enabled and in Service mode (the required mode to home the motors) and then to auto-home to their current position. I then need a way to enter Axis 2 into Gantry mode either automatically, via a pushbutton, or really anything other than manually going into Workbench to make a configuration change.
This is for an OEM so I'm eager to show that a Kollmorgen solution can work as soon as possible. Thanks for any help!
a) Initial Gantry startup:
1) Initially, in the event you haven already done this download the latest version of Workbench [i am using: 188.8.131.522] and download the latest AKD2G fw version [presently 2.4.4.000 (download this to the drive twice). Some new fw features written over a fw version without those specific features appear to be loaded on the second download of the new fw and not the first.
2) For initial Gantry set up; start with master Axis-1 (A) & slave axis-2 (A'), both in position mode with no mechanical connection between the two. Set all gains the same and keep them that way at all times. Using the Slider Tuning start, set both axes to Gentle; start with Gentle and proceed with initial gantry startup if response is acceptable.
Otherwise, if you feel it is necessary to increase gains for a better response; note:
Due to A & A' mechanism not being perfectly the same: one axis will be performance limited before the other. If you tune either axis for maximum performance; you will need to do the same for the other. The axis limiting lower gains becomes your baseline and from that baseline; after finding best gains for the baseline: reduce said gain(s) by 20%, keeping all gains the same for both axes (then proceed with initial gantry startup).
If it is not possible to have no mechanical connection between axes: A & A', for initial startup; you will likely be better off just setting all gains to Gentle using the slider bar.
3) Assuming no mechanical connection between: A & A', find Home position (using only a single function homing option) for A (and A', if same type of homing condition is provided (preferred; my opinion). Once this is done determine any physical difference between the two positions as a function of FB (& any provide scaling).
e.g. When axis1 (A) is ahead of axis2 (A') going in the (+) position FB direction (DIRs =0) then the Δ of position A'- A, will present a (-) value and that (-) value is to be entered for: axis2.home.offsetuser.
If axes A & A', are connected and cannot be physically/practically de-coupled; let me know. It would be best to talk through that.
4) At this point set Axis-2 (A') to service mode: Gantry; on startup re-home axis-1 (A). and then play; you should see for example axis A move home and Axis A' following axis A with the saved value: axis2.home.offsetuser, such that both axes physically move together (no physical difference between the two axes). At this point mechanically/physically connect axes together.
b) The option to use DIN to change the command source is missing the Gantry option; I do not have experience with this one; but Jimmy stated in KDN, a possible solution: One solution is to use the Command Buffer in an Action. Within the Command Buffer, set AXIS2.CMDSOURCE 4.
Does this help; if not let me know a good time to call.It will help with writing a startup procedure.