Path Motion Servo Tuning
How can I match the position loop bandwidths on the AKD drive of 2 axes x and y used for coordinated circular motion?
Comments & Answers
Dan.Wolke@Koll… said ...
I would think that the two axis's bandwidth would need to be adjusted independent of each other and would only need to exceed the application's requirements by 20% or more but wouldn't need to match exactly.
My experience is the Y axis is usually the short axis with the least inertia and compliance. It will have the highest bandwidth. Adjusting the X axis will be the battle to meet the application tolerance.
You can execute circular motion and create a bode plot, for one axis, to see the impact of the "normal force" (sum of the two axis) and gravity (in the case one axis is vertical). I have found this to be helpful to understand the forces acting on the X axis.