I have installed the Asd-M and Asd-B3 on my CNC machine with the mesa 7i96s controller.
But I have a few more questions about its operation.
Question:
1 - Gantry mode ;
- By default, all my axis are in PT mode. Command by my controller is by a differential pulse (PT)
- Need to do homing manually or by drive (in PR mode) -> how to switch mode on the fly?
- when the gantry axis is homed. Enable gantry mode (P2-58) -> can this be done "on the fly"?
- Do I need to change their position control mode P1-01 of the slave axis to "speed control" for medium coupling before or after enabling (P2-58)
- There is an IO for "Gantry - enable" does this need to be done only on the slave axis or also on the master axis?
Note: P2-54 is done beforehand by using the Gantry gain tuning utility
https://www.deltaww.com/en-us/FAQ/2076
There are three kinds of gantry motion with different coupling strengths between two axes.
1. Position control with two axes: weak coupling
2. Position control with the main axis, and speed control with the secondary axis: medium coupling
3. Position control with the main axis, and torque control with the secondary axis:
strong coupling Example 1: A one-piece linear module or carriage for the Y-axis;
Example 2: Two motors drive a screw, i.e., the two axes drive a single device.
Gantry motion settings:
1. Use the parameter P1-01 Control Mode to configure the tracking mode for the secondary axis.
2. Use the parameter P2-58 to enable the gantry function and commands.
3. Use the following parameters to adjust tracking of the secondary axis. P2-54 -> The Gain of Synchronous Speed Control P2-55 -> Integral Compensation to Synchronous Speed P2-56 -> Integral Compensation to Synchronous Position P2-57 -> The Bandwidth of Synchronous Control