The drives are Danaher model 20360. I don't know if they are "digital". I never noticed any place in the setup (software) where you would do PID tuning. I know they have a way of telling what motor is connected to them and that pre-configures the drive to run best with that motor. I think that only sets up the motor specs, like how many poles, motor voltage, things like that. There is no "autotuning" feature like some of the drives have. I suppose I could run them in step/direction mode, but isn't that kinda the same end result as running in velocity mode? In velocity mode the drive is doing most of the control and the Galil just makes sure it gets where it's supposed to be? In step mode the drive is doing all the control? I'm not sure I understand the diference between velocity and torque mode.
I know the Galil PID settings are nowhere near as touchy when the drives are in velocity mode. i can find a large range of settings that seem to work ok in velocity mode. In torque mode a small PID change makes a big difference. In velocity mode I still can't add any KI though.
In the Galil Tools program I can watch the scope and change the PID settings and the motor will make a move each time which in turn shows on the scope. So, what should the correct wave form look like? i know it should shoot up to position as quickly as possible and settle. But how can i prevent the motor from going in oscillation (which happens when I go back to Mach and try to run a G Code file). What should I be looking for? How should the motor sound? Should there be any overshoot before it settles? should I be looking at anything other then Reference Position vs Encoder Position?
is it possible the vibration from the drive belt teeth riding on a flat pulley combined with poor tuning could be causing the system to go into oscillation? That's one thing I was considering.
Thanks