Brother TC-225 / TC-229 adventure!

I did some tuning on the servo amps. The value for P was at the lowest possible setting. Increasing it was a huge step forward. I am not done with the tuning, but so far I could reduce the maximum ferror to ~0.03mm @ 0.1G and 10m/min. I will try larger values of P and I on the servo amp soon. Right now I need a lot of FF1.

For FF1 its not so much "a lot" but rather the right amount.
(If you scale the analog out in machine units per second instead of volts, FF1 should be 1.000)

right now ff1 is around 3 with dimensionless scaling as you suggested. That seems too much..

~4000rpm @10V, 5mm ballscrew => 33mm/(sV)

is ff1 3 with maxscale =333? (333 should be mm/S fullscale with you numbers)

if I don't play with D, I usually end up near 0.7ish for FF1

PCW wrote: is ff1 3 with maxscale =333? (333 should be mm/S fullscale with you numbers)

I had around 0.1 with maxscale = 10. that should translate into ~3.3 with maxscale 333, right?