So,
In position mode, this machine can really move out! Yaskawa sigma 5 drives do an excellent job of tuning the servos, just like the dealer said.
However...
When configured in stepper mode, some funny things happen. I believe that mach is issuing a GA command to axis D. This is fine, but it is gearing off of the main encoder input. Because of the electronic gearing that I am using in the drives, this will not work. The second X axis (axis D) is moving about 7 times as fast as the first one. Is there a way I can program mach to tell the Galil to gear the D axis to the auxillary encoder input of A? I must emphasize that Galil has no problems moving these individually, and accurately.
Attached is an image from galil tools after a jog was commanded from mach. I jogged both x axis' in mach (A and D), then opened up the terminal. After dividing the D axis encoder position by the A axis encoder position, I came up with 6.8619436. This is the distance traveled with one pinion revolution. I have the drive's gearing set to 10000 pulses = 1 inch. This is working great for the A axis, B axis, and C axis. The D axis works fine when commanded from galil. But when Mach tries to drive that axis, it runs a good bit faster.
I believe if I can gear the position of D to the aux encoder of A, all will be well. Anyone know how to do this through mach?