Thanks Jon,

I'll study your docs. What I can't understand though is why I is 
increasing the following error.

Les

Jon Elson wrote:
>
> Because of discontinuities is the programmed path, the I term is of 
> limited usefulness.
> I usually just put a tiny amount in and leave it there.  I can't give a 
> fixed value, as it needs to be proportional to P.
> With P=1200, then I would expect I to be about 10.  If increasing FF1 
> makes following error worse, reduce it.
> FF is not a feedback, so it will easily "overdo" the commanded velocity 
> or acceleration.  FF2 requires extremely small values, I often use 
> something around 0.005, but you can suppress error spikes on 
> acceleration very well with it.
> 
> Assuming 5 TPI screws directly driven, then 1024 CYCLE/rev encoders 
> produce 20480 counts/inch, which is a bit low for a system without 
> velocity feedback.
> 
> See my VERY well hidden article on servo tuning at
> http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?PWM_Servo_Amplifiers
> 
> Jon
> 
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