First of all, thank you Panic Mode for the provided answers, it was a good starting point!
Really appreciate it!
It's been a while since my last post here.
As I mentioned before, we have an X-Y system as a portal scheme.
With Y-axis, the carriage itself, we know that everything is quite okay.
Right now we have an issue with the X-axis configuration (with two KUKA drives on a huge bulk/jig/beam).
We try to configure two master-slave devices with positioning following (distance between two drives approx. 7m) and take traces, changing posGain / IntVelGain / PosGain according to recommendations from the KUKA Manual (KSS 8.5) for External kinematics but still have some odds.
For example, when we have a standard trajectory in T2 mode and 100% (500mm/s) when we travel about 1m, after that 500mm, 200mm and 200mm and check trace with propper settings, everything looks good enough. But if we reduce T2 to 50% for example, or use T1 mode and jog X-axis, there is a "BUZZ" sound from the drive and a bad trace.
The bottom line is: When we finally found propper values for VelGain / IntVelGain / PosGain, we handle issues on low speeds.
Drive configuration was set from documentation, settings like inertia, speeds, etc, and we are sure that everything is okay (at least carriage moves perfectly). We use the same drives and the same gearboxes for the Y and X axis.
Can anyone share the experience of adjusting big bulks/jigs/beams?