I have all 3 axes of the Kasuga converted to EMC2 control using 500 line encoders (2000ppr)on brush servos and Advanced Motion PWM amps. The ballscrews are 5mm pitch. I have the ini set for 10160 encoder counts per inch. While pid tuning I noticed that in order to get my ferror down to below .002" during the accel/decel ramps, I had to reduce the deadband. This was after optimizing p,i,d,ff0,ff1,ff2. This causes the servos to continually hunt about +/- .0002"(two tenths)while at rest which makes a godawful chatter. The symphony of clicks, moans, pops and chatter is going to drive me nuts eventually. Of course, I can always turn the machine off in Axis to stop the noise - but I want to leave the machine on while fixturing, setting tool & work offsets, etc. Is there some secret to tuning this chatter out while keeping following error down? Tom
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