I have a a lot of trouble trying to tune a cross coupled motors correctly.
X axis consists of #7 real motor and #1 imaginary.
C axis consists of #8real motor and #2 imaginary.
I built a download file to of the PID terms for all four axes. I work on tuning axis each paired axis like I normally do with just a single axis. I tune axes #7 and #1 as a pair. Then I tune axes #8 and #2 as a pair, then go back and forth. I can run up to about 30"/sec max. with the machine. I have .25um scales. I can not have it as tight as I would like.
I don't think that I am correctly understanding the feed back path correctly. I believe that I need, and on other cross coupled machines have tuned the cross coupled pairs close in values, but slightly different to dampen the system.
I have attached my tuning parameters.
Thanks,
Darren
