Galil Tuning

[Dave3891]

Ok, I spoke with a Galil guy and he said I can only manual tune a slaved axis. So I have it setup and have been trying values for a while now.

I can get very close without a KI value, but when I add only 0.13 KI it overshoots and takes a long settle time.

My values so far are KP 14, KD 500, KI 0 or 0.13

Here are some scope captures.

Any idea's what to do next?

[Al_The_Man]

It could be a motor/load inertia ratio problem.
Running the gantry, try lowering the acel and decel rates and gradually increase until you see a problem, if the accel performance will not improve with tuning, it could be a inertia ratio problem.
Al.

[Dave3891]

I tried changing the accel and it doesn't seem to have much effect...
I have tried starting at the beginning again with a KP 1 and KD 10 and KI 0, but I am not having much luck getting anything to work well.
I have had some come close, but nothing great.

Would you be able to tell me how you would tune this axis step by step and maybe I could post the scopes of those trials and go from there?

I have put almost 3 days into this one axis and I don't know what else to do.

This should work since we have a similar machine with a little bit heavier gantry and Fanuc motor's with a similar rating to these ones and both machines have the same gear boxes. I based my retro on the motors/boxes of the machine with the fanuc motors just used the Galil and SureServo instead.

Dave.