Did you try the tune mode?

It could be found in the hal configuratio and set via "setp" command. Manual 
http://linuxcnc.org/docs/html/man/man9/at_pid.9.html further down on page 
"pid.N.tune-"





On Tue, 25 Oct 2016 06:16:04 +0000
"Marius Liebenberg" <mar...@mastercut.co.za> wrote:

> Hi All
> I have a problem with a machine using servos. It is a 4 axis machine 
> with the 4th axis being rotary. The linear servos are tuned and working 
> very well but the rotary axis is not behaving well. It has a severe 
> oscillation and I cannot seem to get the PID trimmed to stabilize the 
> servo.
> 
> The 4th axis used to be a stepper and that worked well but we changed 
> the stepper for a servo to get more speed through a reduction planetary 
> gearbox.
> I attached the HAl and INI files. Maybe I missed the obvious again
> 
> The setup is like this: I use a 5i23 with two H Bridges from Mesa. 
> Remaining ports has a 7i33 and a 7i37 to drive the 4th axis servo and do 
> some I/O.
> 
> -----------------------------
> Regards / Groete
> 
> Marius D. Liebenberg
> +27 82 698 3251
> +27 12 743 6064

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