Challenges Tuning Servos on Brother TC-225 Retrofit

Quick update.
Param 7 is set to 300
Param 15 is set to 0 (off)

Attached a screenshot of the same joint0 with the change to the HAL to run open loop.
Adjusted p=1000 and left FF1=1


been reading the Chinese/english manual today and there is a section about tunning the drive. If based on the scope you think it should be tunned better itself.. what exactly am I shooting for on the scope?

**Not sure why it keeps rotating my photos when they post. Sorry. **

Can you also plot the commanded and actual positions?
An error plot by itself is a bit hard to interpret

Quick note... I realized on the open loop scope I posted earlier I'm pretty sure FF1 was set at 0 so may want to ignore that.

Reran the open loop jog with the requested data points P=1000 FF1=1



Below is a Closed Loop jog with the requested data points and P=8 and FF1=1

Any insight on the results above? Is this an accel decel issue?

I wonder what kind of drive / servo system you are using? The english in the manual is hilarious.

Your halscope pictures are bit hard to read, I would try to create actual screenshots on the linuxcnc computer, and use proper scale on all channels (nothing to see on position command and feedback because zoomed out too much).

The last picture looks like way to much lag or to loose of P term and/or incorrect FF1.
"Take screenshot" should be somewhere in the menu, most probably in the "accessories"