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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Overview
Setup guide for Leadshine EL7 EC EtherCAT drives with the Hickory CNC Controller
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Hickory CNC Controller
The HICKORY is an integrated PLC and motion control processor HICKORY uses an Ethernet based fieldbus to
communicate with all accessories over RJ45 shielded twisted pair Ethernet cables The new protocol and connection
scheme are the defining features of HICKORY versus previous products such as OAK
HICKORY communicates with a host PC over Ethernet connection Drives and peripherals PLC expansion boards
Operatorβs Control Panel etc are connect in a daisy chain format with the first Drive connected to the HICKORYβs fieldbus
output and subsequent drives and peripherals chained down from the first Drive
A typical configuration would be connected as HICKORY β Axis 1 β Axis 2 β Axis 3 β Axis 4 β Axis 5 β Axis 6 β Axis 7
β Axis 8 β Operatorβs Control Panel
Typical Mill/Router Axis 1 = X β Axis 2 = Y β Axis 3 = Z β Axis 4 = Y2 paired motor to Y1 β Axis 5 A rotary axis β
Operatorβs Control Panel
Typical Lathe Axis 1 = Z β Axis 2 = X βAxis 3 = Y β Axis 5 C rotary axis β Operatorβs Control Panel
HICKORY supports up to 8 drives and 8 peripherals for a total of 16 devices chained together
When Using any Hickory Expansion boards place them at the beginning of the chain
Example HICKORY β Ecat1616 i/o expansion β ENCEXP13 encoder port expansion β Axis 1 β Axis 2 β Axis 3 β
Axis 4 β Axis 5 β Axis 6 β Axis 7 β Axis 8 β Operatorβs Control Panel
Supported Drives
β’ Yaskawa TB322 β’ Estun Summa TB317
β’ Teknic ClearPath EC TB332 β’ Inovance SV660N TB329
β’ Delta ASD B3A E TB330
β’ Delta ASD B3 E TB330 β’ LS Electric iX7NH TB335
β’ LeadShine EL8 EC TB324
β’ Leadshine EL7 EC TB323 This document
Required software
β’ CNC12 Centroid CNC control software
β’ https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
β’ Leadshine MotionStudio V2 2 6+ Leadshine drive setup and tuning software
β’ https //centroidcnc com/centroid_diy/downloads/hickory/LeadShine_MotionStudio2_installer zip
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Supporting documents
β’ HICKORY DIY Installation Manual
β¦ https //www centroidcnc com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual pdf
β’ Schematic #S15208 Mill 220VAC Single Phase HICKORY Leadshine EL7 EC Drives Generic Inverter VFD
Optional ECAT1616
β¦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=S15208
β’ TB127 β Homing to Marks & +/ Travel Limits
β¦ https //www centroidcnc com/centroid_diy/tech_bulletins/uploads/127 pdf
β’ TB36 β Measuring Motor Revs Per Inch or mmβs/rev
β¦ https //www centroidcnc com/dealersupport/tech_bulletins/uploads/36 pdf
β’ Working with Motion Studio 2
β¦ www centroidcnc com/centroid_diy/downloads/hickory/LeadShine_Motion_Studio2_user_manual pdf
β’ EL7 EC Series AC Servo Drive User Manual
β¦ www centroidcnc com/centroid_diy/downloads/hickory/LeadShine_EtherCat_EL7_drive_users_manual pdf
Setup and Configuration Procedure outline for Leadshine EL7 EC EtherCAT drives for use with
the Hickory CNC Controller
1 Follow the Hickory Installation Manual up until you finish Section 5 7
2 Using the Leadshine MotionStudio software program the Leadshine drive parameters for use with Hickory
3 Bench Test Motor Movement with the MotionStudio software
4 Follow the Hickory Installation Manual starting with section 5 8 and until you finish section 7 1
5 Use the MotionStudio software to tune the Leadshine drives to the machine axes
6 Use CNC12 drive delay AutoTune to automatically configure the drive delay
7 Perform Drive tuning by hand for paired axes or to more finely tune the drives
8 Continue with the Hickory Installation manual from Section 7 3
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Program Leadshine drives for use with Hickory
The Leadshine drives can be programmed at just about any step in the Hickory setup process but generally youβll want to
have completed up through Section 5 7 of the Hickory install manual before following this section Or at the very least have
gotten to the point where the drives should be bench tested with the CNC12 software
Prerequisites
The following items are needed
β’ Computer with LeadShine MotionStudio installed Version 2 2 6 720 was used for this document
β Download at https //www leadshine com/download/Software html
β’ USB to Mini USB cable β connected between the PC and the Leadshine drive you wish to setup
β Note that the drives may not ship with one of these USB cables
Drive Configuration Process
β’ Launch the MotionStudio software
β’ You will see the following screen
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ Confirm correct serial port is selected
β’ Press βConnectβ
β’ You will see this window after successful connection
β You may need to install the appropriate USB driver if the drive does not connect The USB drivers are found
here https //www silabs com/developers/usb to uart bridge vcp drivers?tab=downloads
β’ Close the connection window to complete connection setup
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ You will now see the following screen
There may be a "BOTH STO FAILED" Err 1C0 alarm displayed at the bottom of the screen This is dependent on the wiring
and whether STO circuit is used "BOTH STO FAILED" alarms can be ignored at this point
Other possible alarms include those relating to the absolute encoders These would typically appear after initial drive
configuration is complete Commonly Err 153 "Multiturn encoder error" may result from disconnecting the encoder cable and
battery from the encoder itself after enabling absolute mode This error can be cleared by setting Pr0 15 = 9 The encoder
reset will take place immediately after selecting "9" from the drop down and the alarm should clear shortly thereafter The
related axis home position should be reset in CNC12
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ Open the Parameters List from the toolbar or function navigation pane
β’ Press "Factory Reset" then press "OK"
β’ Power cycle the drive
β’ Reconnect the software to the drive
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
If there is an error and it cannot complete the factory reset or write parameters
β’ Click on "Driver Reset" in the main toolbar of MotionStudio
β’ If that does not fix it disconnect MotionStudio using the "Connect" menu Unplug the USB cable then plug it back in
Connect MotionStudio to the drive again
β’ If that does not work then power down Hickory EL7 drive and disconnect USB cable from EL7 drive Power
everything back on and plug the USB cable back in Connect MotionStudio to the drive again
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Bench Test Motor Jogging with Leadshine Software
For testing on the bench wire up the Leadshine drives according to schematic #15208
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay weβll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 and press
CTRL+ALT+F once Notice OUT1 is now green and has an underline which means its current state is being forced This will
close the E Stop contactor and provide motor power to the drive for further setup
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Bench testing motors with Leadshine software
With CNC12 running and OUT1 forced on go back into the MotionStudio software and click on "Trial Run" then "Position Trial
Run"
* Press "Servo Enable" then jog each direction a few times to verify operation
β’ If everything is working correctly you should have motion from the servo It will be smoother after tuning is completed
Press "Servo Enable" and close the Position Trial Run tab when complete
β’ If using a brake motor set Teach JOG velocity to a safe speed greater than 30 RPM or value of Pr4 39 to ensure the
brake does not engage during jogging Make sure to disengage the brake before jogging or tuning If brake is wired to
a Hickory output relay then use ALT + I menu to force the brake to disengage
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to itβs default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
Once finished bench testing the motors with the Leadshine software power cycle the drive Continue where you left off with
the Hickory install manual until youβve completed section 7 1
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Tuning Leadshine drives to the axis motors of the machine
Once youβve reached Section 7 2 of the Hickory install manual youβre ready for tuning of the Leadshine drive s At this point
the drives and motors have been bench tested with the MotionStudio software and CNC12 The motors have also been
installed on the machine and are ready to be tuned to the axes
*** Skip this drive tuning step on paired axes Do not command motion on paired axes from software other than CNC12
when the motors are coupled to the axis motion
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay weβll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 and press
CTRL+ALT+F once Notice OUT1 is now green and has an underline which means its current state is being forced This will
close the E Stop contactor and provide motor power to the drive for further setup
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Leadshine Drive Software Tuning with stimulus from the drive
β’ Press "Easy Tuning" then "One Click Tuning" at the top of the screen or in the Function Navigation pane
β’ Set "Target in position range" unit to "Encoder unit" and "In position range" to 10
β’ Press "Next"
β’ Press "Servo Enable"
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ Press "Forward" and "Reverse" to jog to safe positions then press "Position 1" and "Position 2" to set a safe range of
motion for the tuning procedure
ξ You may change "Tuning speed limit" to increase maximum speed reached in the tuning process
β’ Press "Next" then click "Yes" to start tuning
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ You will see this screen during the tuning process
β’ Click "Done" after tuning is completed
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
β’ Click "Yes" to save the tuning results to parameter list
β’ Return to parameter list and click "Save" to write parameters to the drive
β’ Set other parameters accordingly
ξ Set Pr0 15 Absolute Encoder settings to 1 for multiturn linear mode for linear i e X Y Z axes Incremental
encoders are not supported Use this setting for rotary axes as well
β’ Click "Save" to write modified parameters to drive
β’ Power cycle the drive
Repeat this setup procedure from initial connection to MotionStudio for all drives that do not control paired axes
Paired axes can have the tuning copied over from an axis with similar characteristics or at minimum set Pr0 15 to enable
absolute multiturn encoders
A setup example for a machine with paired Y axis gantry follows on the next page
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Sample Paired Y Axis Drive Tuning
1 Complete the above tuning procedure for the most similar non paired axis This is most likely the X axis Leave the
drive powered up and MotionStudio connected
2 Press "Upload" in the parameters menu to load in the currently set values from the drive
3 Press "Save As" in the parameters menu and save the parameter file somewhere you can find it again
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
4 Disconnect the X axis drive from MotionStudio by clicking the "Connect" button on the toolbar The connection
window will appear Click the "disconnect" button
5 Then unplug the USB cable from the drive
6 Plug the USB cable into the Y axis master drive and connect to it in MotionStudio
7 Open the parameters list again and click "Open" to bring up a file browser
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
8 Select the X axis parameter file you saved previously and press "Open"
9 This will open the file in a new tab that looks similar to the parameter list The buttons along the top are different
Press "Save" to write the parameters from the file to the EL7 drive
10 Disconnect the drive from MotionStudio using the connection menu and unplug the USB cable
11 Plug the USB cable into the slave Y axis drive and connect to it in MotionStudio Repeat steps 7 through 10 for this
drive
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to itβs default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Run CNC12 drive delay timing Autotune
Centroid drive delay AutoTune is required for proper servo motor operation The drive delay tune will verify a commanded
move with the actual move data provided by the encoder and calculate a βdrive delayβ in milliseconds
Requirements
The Servo motor to machine mechanical βgearβ ratio Centroid calls it βoverall turns ratio β βrevs/inch β or βmm/revβ when in
metric is required to be set properly before continuing with this procedure!
Currently software paired axes will not be run by the Centroid drive delay Autotune feature If you run it with an active paired
axis it will just skip it and give you a warning However we recommend changing the axis labels for the paired axis to βNβ
The machine home position must b e set
After any drives have been configured and tuned with the Leadshine software or any time you have changed any Leadshine
parameter settings on the drives s the Centroid drive delay timing Autotune in t he CNC12 PID menu must be performed
again!
Notes
If you would like to perform the drive delay AutoTune on one axis at a time simply change the axis labels of the axes you're
not tuning to βNβ to turn them off
Drive delay tuning on paired axes must be done by hand More information on this can be found after this section
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Start the drive delay AutoTune by pressing
F1 β Setup β F3 β Config default password is 137 β F4 β PID β F5 β Tune
Make sure that all axes can move the specified amount as seen on the screen without running into any obstacles or a limit
switch and press Cycle Start
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
After successful AutoTune press F1 β Save to save the results
For software paired axes it is required to hand enter a drive delay number in CNC12 using parameters 340 347
A good starting place is to hand enter the same drive delay time that auto tune found for a similar axis motor/drive/machine
axis mechanicals
In the example below Axis 2 Y is paired to Axis 4 W
So we set Parameters 341 Axis 2 drive delay and 343 Axis 4 drive delay to 5 ms
Which is the X value found by Centroid drive delay AutoTune seen in Parameter 340
Pitfall Warning if you run Centroid drive delay AutoTune with the paired axis Active drive letter NOT set to βNβ the drive
delay value for the paired axis will be set to zero and overwrite any hand entered values!
Further hand tuning of the drive delay amount and velocity feed forward gain in the Leadshine software is described below
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Drive delay tuning by hand
For some machines such as those with paired axes it is desirable to enter and tune by hand the drive delay Centroidβs
CNC12 software has a built in scope which allows you to collect positional data while running a simple test g code program in
a repeat loop and observe the real time Absolute position Error of an axis
In the example below we are running the Scope on the Z axis which is moving up and down over and over The βErrAbsβ is
observed at 0 00008 β In this case there in NO NEED to proceed with the instructions below
In general If βErrAbsβ is below the fourth decimal place 0 0000x inches then there is no need to do any further tuning
The image above is of running a live Scope shot of the Z axis After automatic delay tuning was completed with very little
position error orange line from commanded position The green line is motor velocity
The orange trace ErrAbs is the position error The readout on the top left tracks the marker in the plot This marker can be
placed by left clicking anywhere within the plot window To the left of the slash is the error in terms of command pulse counts
while the right side of the slash shows the displacement
Assuming the overall turns ratio is set correctly see Tech bulletin 37 for more info the position error on constant velocity
moves should be very small You can mostly ignore the orange spike seen on the direction changes
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Paired axis drive delay tuning by hand
The Centroid drive delay AutoTune function cannot be run on software paired axes however good performance can be
achieved by fine tuning the delay and drive parameters by hand
Be sure to complete the paired axes setup as described in the Hickory installation manual
Keep the axes paired in CNC12 and only command the master axis label Y in our example in the drive delay tune g code
program
DO NOT run the PID_collection_moves txt program on the Slaved Axis Label! W in our example
For example we have a Router with a Y axis moving Gantry Y is axis 2 master and is paired to axis 4 W slaved
Run the Data collection Scope on the Y axis and observe the ErrAbs just like any other axis described below
When performing the trial and error process of adjusting the drive delay value covered in the following section make
adjustments to the drive delay parameters for BOTH of the paired axes at the same time In our example we would make
0 25 ms changes to both CNC12 parameters 341 axis 2 master Y and 343 axis 4 slaved W
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Hand drive delay tuning procedure
1 From CNC12βs main screen press F1 β Setup β F3 β Config default password is 137 β F3 β Parms and
navigate to parameter #340
2 Set the delays for any axes that will be hand tuned to a starter value such as 5 ms
3 Press F10 β Save and then press F4 β PID β F1 β PID Config to enter the PID Configuration menu
4 Press F1 β Edit Program to bring up the PID data gathering program in a text editor
PID_collection_moves txt Modify the program to provide a safe range of motion that is large enough for the
axis to accelerate to the commanded rate The feedrate should be the fastest positioning speed i e the fast jog rate
The delay is not critical but it is a good idea to have some
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Here are a couple examples Edit these files to meet your requirement for start/stop position feedrate etc refer to
the CNC12 Operators manuals for further explanation on all G and M codes
5 Save the file and return to CNC12 Press F8 β Change Axis to select the axis you wish to run the data collection on
which is displayed in the upper left corner of the screen
Run the Scope by pressing F2 β Run Program and then Cycle Start which will start the
PID_collection_moves txt program that we just edited
The axis will start moving and you will likely see a display similar to the following image If not press F7 Zoom All to
automatically zoom to the full extents of the signals
The orange trace ErrAbs is the position error in terms of encoder counts There will most likely be a large
observable error seen since the drive delay timing value that we entered does not match the Software tuning of the
drive The above figure shows roughly 0 0045 inches of error This might be good for a router but for a Lathe or Milling
machine we would want to do better
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
6 Now start the trial and error process of hand tuning the drive delay value
ESC out of the Scope Run and adjust the drive delay parameter 340 347 by 0 25 250 milliseconds one way or the
other and start the Scope Run again Be sure to always run the same program in the same place on the machine tool
when comparing and observing the ErrAbs amount donβt change more than one thing at a time
In general the drive delay is too high if the orange ErrAbs trace is on the opposite side from the green Velocity trace
Correspondingly it is too low if it is on the same side as the green Velocity trace The goal is to bring the orange
ErrAbs trace as close to zero as possible
7 After a little tweaking below is the same scope shot showing good results of 0 00002β Position error We are done!
Ignore the orange spikes on the direction change and stops β they will not influence anything
8 Press Cycle Cancel or ESC to stop the program when finished
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TB323 Rev10 β CNC12 Hickory Leadshine EL7 EC Setup & Tuning
Optional drive delay fine tuning
As the CNC12 AutoTune will set the drive delay to the best possible number within 0 25 ms this procedure is only necessary if
you wish to even further fine tune the drive delay
1 Navigate to the PID Config screen as we did in the previous section by going to F1 β Setup β F3 β Config default
password is 137 β F4 β PID β F1 β PID Config
2 If needed edit the PID_collection_moves txt program for the axis you want to tune by pressing F1 β Edit
Program and donβt forget to save the changes
3 Press F8 β Change Axis to select the axis you wish to run the data collection on and then press F2 β Run Program
and then Cycle Start to start the PID_collection_moves txt program
4 Open MotionStudio connect to the drive that needs tuning and open the Parameters list
5 While the live tuning program is running in CNC12 adjust PA1 10 "Velocity feed forward gain" in the MotionStudio
Parameters List Upload adjusted values to the drive by clicking "Save"
Relatively fine changes will be needed here that will not undo previous tuning efforts The error trace on Centroid's
live tuning should get closer to 0 If not adjust " Velocity feed forward gain " the other way The error trace will be
centered around 0 when the adjustment is correct
6 Press Cycle Cancel or ESC to stop the program when finished
Once youβve finished tuning the drives continue with the Hickory install manual where you left off
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