Leslie Newell wrote: > Thanks Jon, > > I'll study your docs. What I can't understand though is why I is > increasing the following error. > Yes, this confuses me, too. It may be that some other parameter is actually causing it, and the I term either helps or doesn't help to suppress the error. I can't see why I would ever cause an increasing error. One thing that can cause increasing error is when the servo runs out of voltage. A very slight increase in commanded speed will cause an extreme error, and a slight reduction in commanded velocity will allow it to run longer before error develops. If you are using this with some intelligent drive, rather than a raw power amp, then the tuning parameters in the smart drive can greatly complicate things. (I'm guessing with a P of 1200, that is not a smart drive, though.)
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