sam sokolik wrote: > I still have to really tune all the axis. (velocity mode amps seem to > be pretty forgiving - all I did so far was calculate the output scale > and adjust the following error at a slow ipm by adjusting the amps loop > gain.) (P=20 D=1 FF1 =1) > If you haven't done serious tuning with Halscope, then almost certainly, you can do a LOT better with 15-30 minutes on the first axis. After that, the next axes will come in 5 minutes or so, just starting with the settings from the first one. You want to raise P and maybe add a little more D, then tweak FF1 and FF2 to pull the errors down close to zero. More P will reduce error while in the cruise phase. When you can't go any higher, then add some FF1 until the cruise error is practically zero. Then, very small amounts of FF2 can be used to reduce the error during the accel/decel ramps.
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