Symptoms are,
On run signal all drives accelerating up to set frequency (30Hz) fine (i believe during acceleration and deceleration, torque control not exercised)
Then master drive runs at 30Hz and slave drives continues to increase their speed. I know that this is happening because MV (which is my torque command for slave drives) is quite large. Maybe i need to adjust my PID parameters to make it less responsive!
But what i don't understand, all 4 slave drives not running at same speed, even though same MV value driving them all! Because of this some section of the chain conveyor stretches and some sections bunched up.
Ideally i need all drives to run at same speed ( apart from Sinew drive, because this one has a larger diameter drive wheel and it needs to run 0.96 times slower than the others) so i can keep line tension same on everywhere on the line but i need all 5 drives to share the load.
Thanks.