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CS-Lab s.c. | CSMIO/IP-A 6-axis CNC controller. Manual tunning
3
2.
Preparing for tuning
Before you start the manual tuning of the position PID regulator of CSMIO/IP-A motion controller, you must:
a)
Connect, set, and test the E-STOP emergency stop button.
b)
Check that the E-STOP button is easily accessible.
c)
Connect, configure, and test the signals:
•
"Drive Fault"
(you can find it in plugin settings).
•
"Drive Reset"
(you can find it in plugin settings).
•
"Enable #"
(you can find it in Mach4 settings).
•
„Motor ... ++”
(you can find it in Mach4 settings).
•
"Motor ... --"
(you can find it in Mach4 settings).
d)
Check the tuning of the current and velocity PID regulator of a servo drive and correct it if necessary.
If the servo drive is new or comes from a different machine or has been dysregulated, you should
thoroughly tune up the PID regulators. For information on how to tune, refer to the servo drive in-
struction manual.
e)
Set the native unit in Mach4, millimeters or inches.
f)
Set the "Axis Mapping" tab in Mach4.
g)
Set the "Motors" tab in Mach4 (do not overdo it with the acceleration value, we suggest using
200ms2 – 500ms2 value at the beginning).
h)
Connect the feedback signal. You can use:
-
an optical scale,
-
an encoder
-
an incremental signal emulator output of a servo drive
In all cases, we mean an incremental signal compliant with the RS422 standard.
i)
Check the feedback operation (encoders and scales operation test). For the feedback test, you need
to move an axis in both directions when Mach4 is at "Disable" status and watch axis DRO on the Mach4
screen simultaneously. If the feedback works, the axis DRO value should react adequately to the axis
movements.
j)
Connect the analog /-10V
If you skip any of the above steps, tunning CSMIO/IP-A position PID regulator may fail or be dangerous.
To make the tuning safe and undisturbed, only one servo drive should be enabled at a time, for which
the PID loop of the CSMIO/IP-A controller position has not been tuned yet.
This prevents the situation in which the servo drives, for which the position PID regulator has not been
tuned yet, will move at a low speed, causing position loss alarm or even running into a limit switch.
The above recommendation does not apply to an axis that is a driving gantry driven by "Master" and
"Slave" servos, where the tuning of both of them should be done simultaneously. It is also essential to
set a spindle in the center of a gantry in order to ensure that the servo drives working conditions are
as similar as possible.
