Are you using EMC 2.5? If so you should be able to get some improvement by
using the 5I20's encoder velocity estimation instead of the DP/DT that the
standard PID loop uses. This requires wiring the encoder velocity output to
the (2.5 or >) PID loop's derivative input.
This may make it possible to use larger D term (and because of the larger D
term a larger P term)
Peter Wallace
Mesa Electronics
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