Peter C. Wallace wrote: > If the drives are indeed in torque mode (which is hard to reconcile with > tuning the drives step response via a potentiometer), It may be very hard to > tune a bare unloaded motor at a linuxCNC 1 KHz sample rate (~300 hz bandwidth) > You're right. If he THINKS the servo amps are in torque mode, but the jumper is actually in velocity mode, it will be quite hard to make work. The velocity integrator will be trying to make it run away all the time. The Copley 400-series has a jumper inside the case to select velocity or torque mode.
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