Servo Tuning detailed How To.
Start with FF1=0 and FF2 = 0 and I=0
Chose a small amount of P (say 50 = full torque with 1/5" error)
Then increase D until it gets too "buzzy" and then back off about 30% on D
Then increase P until you get oscillations and again back off about 30%
Then adjust FF2 so that you neither overshoot or undershoot during
acceleration (the FF2 setting is inertia dependent so its better to do this with a typical table load)
Finally increase I until motion becomes unstable (Watch out for WIDE oscillations here)
and back off about 50%
Type_Zero_Design wrote: Todd,
I posted a link to a video of my hall scope with the error in the post with my current settings a post back, but I know it's kind of an unconventional way to post a video so I've included it here as well( It won't let me upload directly)
Hopefully that's viewable for others, I'm not 100% sure it's from my Google drive.
Still got work to do.. but performing way better now. Still has issues when command a move less than 1", so I will keep working on it, thanks for everyone's help!