PID tuning for LS Mecapion setup with MESA 7i77

Did the changes.

First screenshot F700
Second one F7000




Thank you so much, big improvement!

Anything else that can be further tuned?

LE. should i also revert the encoder read freq or can i leave it to 1mhz?

Thanks,
Alex

OK one thing that needs improvement is the drives response to the velocity command.
If there are any filters in the velocity command path they should be set to their minimum time constants.

The encoder feedback indicates that the drive is not very good at generating the simulated encoder
signal (you can see obvious frequency quantization in the encoder velocity feedback) This will limit
your maximum P term but might be improved at a higher resolution simulated encoder output.

Note that you should be able to do very well with a low P term if the drive is tuned
well and there are no large delays or filters in the velocity command path, that is the
velocity command should get you 99% of the way there