Stuck at the start on servo tuning w/ Youtube video.

[Garage14]

Ok, I played with increasing the "I" and integrator max and VFF values. Up and down I couldn't get any better than a following error of about 17. I noticed that now the actual position is a wave instead of a straight line running straight and parallel to commanded position and that it kisses the commanded position on each low point of the wave so error correction is working now. My values seem a lot higher than other examples but if they work I guess they are fine. My error is still an invert of output but if I increase "I" or VFF more my following error starts to get worse so I dunno if I need to change something else now or if all is well here.

Thanks- Dave

[TomKerekes]

Hi Dave,

That looks pretty good to me. About 0.0008 inches error while accelerating to 470ipm with 0.1G acceleration.

You might now do this.