Driver NUM GEC MK2S

# Axis: Z Joint: 1 Output: 1 # PID Setup setp pid.z.Pgain [JOINT_1](P) setp pid.z.Igain [JOINT_1](I) setp pid.z.Dgain [JOINT_1](D) setp pid.z.bias [JOINT_1](BIAS) setp pid.z.FF0 [JOINT_1](FF0) setp pid.z.FF1 [JOINT_1](FF1) setp pid.z.FF2 [JOINT_1](FF2) setp pid.z.deadband [JOINT_1](DEADBAND) setp pid.z.maxoutput [JOINT_1](MAX_OUTPUT) setp pid.z.error-previous-target True # joint-1 enable chain net joint-1-index-enable <=> pid.z.index-enable net joint-1-index-enable <=> joint.1.index-enable net joint-1-index-enable <=> hm2_[MESA](BOARD).0.encoder.01.index-enable net joint-1-enable <= joint.1.amp-enable-out net joint-1-enable => pid.z.enable # PWM Generator setup setp hm2_[MESA](BOARD).0.pwmgen.01.dither true setp hm2_[MESA](BOARD).0.pwmgen.01.output-type 1 #PWM pin0 setp hm2_[MESA](BOARD).0.pwmgen.01.offset-mode 1 # offset mode so 50% = 0 setp hm2_[MESA](BOARD).0.pwmgen.01.scale [JOINT_1]SCALE # ---Encoder feedback signals/setup--- setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0 setp hm2_[MESA](BOARD).0.encoder.01.filter 1 setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0 setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0 setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0 setp hm2_[MESA](BOARD).0.encoder.01.scale  [JOINT_1]ENCODER_SCALE # position command and feedback net joint-1-pos-cmd <= joint.1.motor-pos-cmd net joint-1-pos-cmd => pid.z.command net joint-1-pos-fb <= hm2_[MESA](BOARD).0.encoder.01.position net joint-1-pos-fb => joint.1.motor-pos-fb net joint-1-pos-fb => pid.z.feedback net joint.1.output <= pid.z.output net joint.1.output => hm2_[MESA](BOARD).0.pwmgen.01.value # Encoder Setup setp hm2_[MESA](BOARD).0.encoder.01.scale  [JOINT_1](ENCODER_SCALE) setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0 setp hm2_[MESA](BOARD).0.encoder.01.filter 1 setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0 setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0 setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0

[AXIS_Z] MIN_LIMIT = 0 MAX_LIMIT = 1000 MAX_VELOCITY = 333.333 MAX_ACCELERATION = 400 [JOINT_1] CARD = 0 TAB = 1 AXIS = Z MIN_LIMIT = 0 MAX_LIMIT = 1000 MAX_VELOCITY = 333.333 MAX_ACCELERATION = 400 TYPE = LINEAR SCALE = 1 ANALOG_SCALE_MAX = 10 ANALOG_MIN_LIMIT = -10 ANALOG_MAX_LIMIT = 10 ENCODER_SCALE = 1000 FERROR =  10000 MIN_FERROR =  1000 DEADBAND = 0 P = 1 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 MAX_OUTPUT = 10 MAX_ERROR = 0.0127 HOME = 10 HOME_OFFSET = 0 HOME_SEARCH_VEL = 5 HOME_LATCH_VEL = 0.5 HOME_FINAL_VEL = 20 HOME_SEQUENCE = 1 HOME_USE_INDEX = True

Blatantly copied and pasted from a post made by PCW regarding H bridge drives: Bare H-bridge drives running PM DC motors behave somewhat like velocity mode servos (with quite low velocity feedback gain) So they end up being somewhere between velocity and torque mode. That is, you are setting the average motor drive voltage with the PWM value. This sets the approximate motor velocity because the motor will accelerate to a velocity where the generated back EMF is close to the supplied voltage. If the motor impedance was zero, you would have close to a perfect velocity mode servo, but the impedance is substantial which leads to the low inherent feedback gain. Normally for Hbridges, I would start with a low P value and tune the D term as high as possible without excessive buzzyness, then set FF1 so that the actual position does not lead or lag the commanded position at full speed, then I would tune FF2 so that the actual position does not lead or lag the commanded position during acceleration Then I would tune P as high as possible without oscillation, overshoot and then when everything else is close, add as much I term as possible without instability. Thank you, PCW. Please feel free to voice your advice, critique, additional info etc.