Kitamura MyCenter 0, complete works.

Good Day Gents
Starting another retrofit, this time will be complete. Was wondering if someone can help with couple of issues.
The machine had all of the servos / Yaskawa MX3 controller stripped.
replaced all of the axis servos with SGDV and SGMGV servopack and servomotors in torque mode.
What stayed is the Frequrol for atc, The Oriental motor for ATC unbrella rotate and Yaskawa VFD 626VM3C

- Mesa PID tunning in torque mode (max rpm 3000, 10mm ball screw, 500mm /sec max rate. )
- external function remaps  ( external push buttons and selector switch ) redoing the whole operator panel
- ATC home / encoder change over. , PLC  details / examples
- ATC samples of other working machines ( There was post for the same machine but not sure if the gent finished it off. )

The rest I think I will hack a bit by bit , but the deep stuff will need your holding hand.

Thank you kindly
Peter

Good Morning Andy.
Problems are the following.
the machine feels sloppy, ferror is way too large for what the system could / should be ( 0.05mm ferror @ 2400mm/min ) it almost feels like something is corked up..hence the pid tunning and mostly the outputscale settings , right now it is at 10
the atc, wanted some feedback from you if better implement home switch + existing hardware or simple 1024pulse encoder.