Servo tuning / debugging help - clarification of context….

The sawtooth following error plot looks like standard stick/slip
with a torque mode drive with a low P gain.

If your motor drives are running in torque mode, the tuning will be very different
from the tuning tutorials which assume velocity mode drives

Torque mode tuning typically has no FF1 (but some FF2) , large P, I and
significant D for a single loop system

thanks PCW.
please can you give me some values (or some expiriences ) where is good to start tuning. there is no some tutorials for this type of servo setting.
i don't understand why torque mode? diriver can be set in torque mode, but I select speed control (i think it is the same as velocity mode ??)

today I tried to tune this one axis again.
I proceeded as tommy wrote in his tutorial.

the saw was created by the soft feedback and rigidity of the mill table
however, I cannot tune the marked defects on the f-error curve.
can anyone advise me what to focus on, how to remove the acceleration jump and shift the curve to the zero line?
the picture is at a feed rate of 47mm / min, at higher speeds this initial tooth is not so pronounced there.

All I can suggest is try adjusting each number up and down to see what effect it has.

Good day.
I also return to the questions regarding servo tuning.
I've already spent a lot of hours on it. tooth (oscillation) at the beginning was a mechanical matter, which I removed.
however, the "axis0 f-error" curve still copies the "axis0 join-vel-cmd" curve (as seen in the previous figure).
I can't get to the baseline, the f-error as described in the instructions.
I don't know if it's in the driver settings and I don't even know what to change there.
I use this driver:
support.keba.com/cds/online/#doc/01-cde-...1-cde-cdb-cdf-AHB-en
can anyone think of something to reduce high f-error?
thank you for any advice

Jaro

Does adjusting the FF1 help with the velocity dependent f-error?