I started with everything at zero ( Ap, Ad, Ai, Li) then started with the Ap but anything past 200 made it oscillate like mad. Whereas on the other two motors I think they were around 1000-1500 figure.

I ended up taking the motor off the machine in the end, I got a bit carried away with the settings at one stage and the machine got a bit of a jig on. Hopefully it didn't do any lasting mechanical damage! Having it off the machine shouldn't effect setting it up too much should it?


I guess I will just have to keep at it, try increasing P and backing off the D and I?

When you say it has a bit of an offset, I should be aiming to get the green line back down to zero (red line) and have as little oscillation before that as possible? I think I was getting confused by what I should be looking for. Researching PID tuning for the 100th time seems to be making it a little bit clearer now