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Path Motion Servo Tuning | 15 Sep 2014 | |

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 ...

Dan.Wolke@Koll… | Tue, 09/30/2014 - 14:02

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.

bill west | Wed, 10/22/2014 - 14:43

Please read my presentation on Path Tuning: http://kdn.kollmorgen.com/content/path-application-tuning

bill west | Tue, 10/28/2014 - 21:58

What did you thiink of the power point?

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