FAQ: On a linear motor x-x'-y gantry system, what is the best method to control the two x-axes?
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The preferred method is to set-up a master/slave relationship using two axes of a motion controller. The motion controller must monitor the linear encoder feedback from both the x and x'. The x' axis must track the position of the x axis.
Another alternative is to set-up a master/slave relationship using only one axis of a motion controller. The motion controller would monitor the linear encoder feedback from the x axis and command the x' axis. The x' axis would follow the encoder output directly from the x axis encoder output. Caution should be taken when implementing this method, since each amplifier operates in a different control method and different loop updates may exist. The following example lists the necessary SGDH amplifier parameter settings for a linear motor master/slave application (assuming a linear encoder grating pitch of 20 microns).
Master Axis Parameter Settings:
Pn000.1=2 Sets amplifier in Force Control.
Pn280=20 Linear encoder grating pitch is 20 micron.
Pn281=20 Sets encoder output resolution to 20 micron per 20 pulses (or 1 micron per 1 pulse).
Slave Axis Parameter Settings:
Pn000.1=1 Sets amplifier in Position Mode.
Pn280=20 Linear encoder grating pitch is 20 micron.
Pn202=256 Electron gear ratio numerator.
Pn203=20 Electronic gear ratio denominator. The electronic gear ratio is used to scale the postion command input.
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