Adding a 4th axis spindle to my mill, servo troubles

[Davek0974]

Thanks. I did et a reply from CS-Labs shortly after posting, they did confirm that you cannot expect to pid-tune a servo to 3000 if its limited internally to 3000, they also advised, for the same reason to increase the gain to 400rpm/V - this was again to increase headroom and allow Pid to do its thing.

Its working now, error is about 2500 but thats because i only have P value set - seems adding any I or D causes issues, adding I seems to lower the error, i can get it down to about 200, but it makes it wobble at zero point and very unstable at speeds < 800 rpm, it gets very jerky at low speeds with I values.

I have set a following error of 8000 IIRC and its still working well, i even made a batch of parts for the first time today :)


BTW, the drive does report speed correctly, verified with a hand-tacho but it did not show voltage correctly, 10v applied showed as something like 9.89v i think it was