Tuning stepper motors with encoder or glass scale feedback

At the minimum you should:

Expand the ferror limits as explained above.

Learn to use halscope.

It will not really be possible to tune without using halscope
regardless of the hal setup.



 

but I know how to use the halscope. I know how to read the curves, but I don't know which parameter to adjust when, for example, I have oscillations in the error.

Can you post a plot that shows this oscillation, including the velocity and the ferror?