Help to find problem in servo

ferror and pid.n.error are in machine position units for a position loop
(PID error is difference in expected and real position)
so 5m/div = 5 microns per division if your machine is set up for MM

The PID output scaling will be in position units per second (its controlling a velocity)

PCW wrote:

To see pid.N.error you need to set the PID comps debug flag

FF1 can be fine tuned when P is small (too much FF1 makes position lead profile, too little FF1 makes position lag profile) changes in FF1 should be very small (it will still be very close to one)

To eliminate the 1 or 2 encoder count dither when stopped, you can add some more deadband

How to set this flag?
I did not find any pin/parameter witj this name in pid module.