Category: CNC Machines
Occasionally, when using 'run' on the 'Test/Tune Axis' panel, for a back and forth test of 2", the movement at the end of travel oscillates around the endpoints. It isn't consistent, it will oscillate for a little bit and then stop oscillating and then start up again. I will try and post a video of this shortly. Any insight would be greatly appreciated!
This typically means that the P term is set too high in the local PID control loop.
For local control loops, P should be set to 1/(servo period in seconds), That is,
1000 for a 1 ms servo thread period or 500 for a 2 ms servo thread period.
The physical meaning of this P term setting is that any detected position errors
are corrected by the next servo thread invocation.
