DMM DYN 4 servos + Mesa 5i25 & 7i77 XYZ+A Cnc 5x10

bevins wrote:

Would the double PID help if I am having trouble tuning a system with just one loop in velocity mode?

It only helps if you have extra data available in the middle.

For example, you can only have a cascade of position-velocity-torque if you have good velocity feedback to close the first loop.