Servo tuning / debugging help - clarification of context….

Good day.
I also return to the questions regarding servo tuning.
I've already spent a lot of hours on it. tooth (oscillation) at the beginning was a mechanical matter, which I removed.
however, the "axis0 f-error" curve still copies the "axis0 join-vel-cmd" curve (as seen in the previous figure).
I can't get to the baseline, the f-error as described in the instructions.
I don't know if it's in the driver settings and I don't even know what to change there.
I use this driver:
support.keba.com/cds/online/#doc/01-cde-...1-cde-cdb-cdf-AHB-en
can anyone think of something to reduce high f-error?
thank you for any advice

Jaro

Does adjusting the FF1 help with the velocity dependent f-error?

Thank you, Todd.
any value of FF1, whether positive or negative, does not affect the f-error curve. I tried values from -10 to +10.

can you post hal and ini files?

looks like an scaling error or some wrong hal linking

db1981 wrote:

can you post hal and ini files?

looks like an scaling error or some wrong hal linking

He posted the files in the first post.

Comment out this line in your hal file for each axis.

That and you may want to update to a more current version of Linuxcnc.
That problem is caused by a bug in PNCconf that was corrected in later versions of Linuxcnc 2.7.

now I've 2.7.15 linuxcnc version.
Do you think, upgrade on 2.8 can eliminate this anomaly?
yes I started with PNCconf and then added the necessary functionality.
I 'll try to comment you wrote.tomorow I'll send actual config file.

okay...

Your ini scaling is 10V at 35mm/s (2100mm /min) is this correct?
(motor revs/min at 10V /60 (/gear ratio) * ballscrew pitch)

It might not make a difference, unless you regenerate your configuration. The bug was in the wizard you created your config with. And I don't know if it would be smart enough to find and remove it from your existing config. Easier just to fix it manually.