Leslie Newell wrote: > After a bit of playing around I am within about +/- 8 counts, no matter > what I throw at it. Feeds are within about 6 counts. Grabbing hold of > the servo shaft and trying to turn it by hand as hard as I can deflects > the position by about 8 counts before it returns to 0. > > I first tuned PID as good as I could get then turned I down to 0 and the > other two down to about 20%. I then set up FF1 and FF2 to give the > minimum following error. Finally I turned P,I,D back up to their > previous values. > > I think that is pretty much as good as I am going to get. > > Well, what is 8 counts in real units? If you have coarse encoders, it could be a lot, if your encoders have very fine resolution, then that is wonderful!
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