To tune a velocity amp (from memory cause I can't find my notes) I think you start with:
P=1
I=0
D=0
FF0=0
FF1=0
FF2=0
Then increase the P until the output of the loop oscillates.
Then increase I until oscillation stops.
Finally, increase D until the loop is acceptably quick to reach its reference. I assume this means a reasonable following error.
