I'm working on a servo driven router that has a Mesa 5i20 and 7i33 card.
Started with the H2 servo example. I have tuned many velocity mode drives
and ever things states torque is easier I have not found that to be true for
me. I can not find any info on tuning torque mode systems. Nothing is acting
like I'm use to seeing so I have no ideal were to start.
I did 5i20-card + jon elson PWM DC-brush drives on a mill in 2008:
http://www.anderswallin.net/2008/04/pid-tunig/
take some halscope screenshots and add the PID-parameters and put them
on the web if you still have problems.
Anders
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