Brother TC-225 / TC-229 adventure!

basically, no
For velocity mode servos, 99% of the tuning is in the drive (and having FF1 set properly in LinuxCNC)
AT-PID will just make a mess of this

ah ok. too bad, haha.

ihavenofish wrote: ok, I will see if I can do a video showing the halscope for the y and the z (the worst offenders) while its running.
ill take some screen grabs as well, although I was having trouble with doing that. video might prove more useful.

No need to mess with videoing anything, just a simple screen shot of the halscope screen when making a short jog (20mm or so).
To take a screen shot, from the main desktop menu select Accessories/Screenshot.)
like this

my trouble is figuring out how to make the halscope stop and show a move like that
how does it know where to record from and to?

ok so one _really_ basic thing: These are torque mode drives NOT velocity mode so tuning is quite different

From the trigger source. When the value of the trigger source crosses the trigger level (in the chosen direction (rising or falling) Halscope starts recording the sample.
In the above, I was using channel 3 (axis.0.joint-vel-cmd) as the trigger source, and the green dotted horizontal line in the Halscope plot was the trigger level.