Need Help!- Galil Tuning

[Dave3891]

I am trying to tune a galil system that is a ISA card with a DOS operating system. Are there any tools I can download to help me with this in a DOS operating system?

The machine is a large gantry dual rack drive drilling machine. The old motors were NSK megatorque and we couldn't get replacements anymore so I have fitted a SureServo 2kw system with 14:1 gear boxes.

I can't seem to get any good PID values on the gantry axis of the machine and I don't really know what I am doing.

I have the sureservo software to view the motor speed and try to tune it but I am having a lot of trouble so I think I need some galil tools or something.

Anything above 1 in the KP setting seems to make it unstable, but this doesn't seem right.


Any help with software suggestion or tuning help would be appreciated.


Dave

[Al_The_Man]

Is this a Galil DMC-1000 series?
There was originally a dos tuning s/w but it was a bit limited and not sure if it available anymore.
Did you try the Manual Tuning procedure in the manual using the basic Galil commands?
The alternative is to either load Win XP and use the Galil tuning software that is pretty good at running the motor through its paces.
Even if you have to load it on another HD and just temporarily use this HD to get the numbers.
Are these intelligent drives maybe and you are getting dual loop conflicts?
I generally use passive drives with Galil such as Advanced Motion.
Al.

[Dave3891]

It is a DMC-1000 series drive. The drives are setup in torque more with a -+10 volt signal so I don't think there is a conflict.
Do you have a copy of the software for dos?

Will the ISA card work with windows?

I have been tuning with a basic terminal program that is loaded and tells the position and lets me send commands to the controller card.

[Al_The_Man]

I believe I have the DOS s/w somewhere but it is on 5-1/4 floppies
I think I have a copy that works with Win 98 if you can get a version of 98.
I generally use portable set up with the DMC in a slot and use it to tune in place and then plug the numbers into the DOS system.
Al.

[Dave3891]

Any rough ideas of what kind of PID numbers I should be getting?
The gantry must be around 16,000 lbs.
It has (2) 2Kw servos with 14:1 gearboxes and a rack drive.
It just seems to oscillate or vibrate with any KI value and I need the KI for accuracy


Dave

[Al_The_Man]

Thats a biggie!
If you want to try the Galil Win98 s/w PM me an email add.
Al.

[Dave3891]

Thanks, I found the WSDK 32 bit windows 98 version on the galil site.

I guess I need to find another HD to plug in and test the software out with.
The ISA slot works with win98 no problem?

[Al_The_Man]

It should, I use mainly PC-in-a-slot processors such as Advantech, they have back plane boards with multi type slots and so far have I have had not problem running DOS, Win98 and XP all on the same HD drive.
Al.

[Dave3891]

Ok, thanks to Al's help I got WSDK running with windows98 on this machine.

I have played with the Y axis tuning (not the dual drive axis) and this is what I am getting with the tests.

Does this look like good settings?
Is this the response I am looking for?


Dave

[Al_The_Man]

There is a 500 count overshoot in both directions, have you gone through the online video's by Dr Tal?
There is part 1 and 2 that show how to use the WDSK.
Tutorials - Galil: We Move The World
Al.

[Dave3891]

Yeah I watched that video a few days ago, but maybe I should watch it again.

[Al_The_Man]

Did you change the gearing etc from the original?
If the motors are undersized it will be impossible to get very good results.
Al.