Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders

Tuning D is not easy. there is often only a small window of what works. and outside of that you may not see much change, and too much and too little often may not look all that different. But when you find that sweet spot it is almost magic.

I'd say that your P=370 tests looked the best with .4 and .04 a bit of a toss, up.

What happens with a little more D with P=370? Try .6, .8, 1.0. If that looks like it is going the wrong direction, try .3, .2, .1.

Todd, Thank you!! When you talk "D" & the sweet spot, how do you recognize it, as you are going up in the values?
I have many traces, the attached pics are in the range you asked about. If you continue higher "D" the very start of ch2 "trace" gets a larger & larger spike as you go up in "D". I could use just a clue to be shore I got the correct idea. The ch2, needs to be split on the "zero" datum; ch4 (encoder velocity) needs to follow (lay on top of) the red trace, exactly, all traces, w/o oscillation. Is there other traces I need to watch?
Many thanks.

Units are the same as last group.
 

Todd, Thanks! The attached pics are of the low "D" at .1 & .2. The spike is larger, the best may have been last post. Units on ch2 are 200u/div. in the newer pics, there maybe a pic with the 500u/div in the older set, so beware.

Many thanks.

Edit: Over the weekend I can work on the "Y" axes tuning, or should I revisit this "X" axes & find-tune the x traces? Leave FF1 set (to what value?) & only use the "P" & some "D", to tune trace?

Many thanks!
 

Todd, Thanks! This is a trace with units set; channel 1 & 4 =200m/div: channel 3 & 5 =500m/div & channel 2 shows on screen. This keeps FF1 = 1.0, the trace does not come down to the "zero" datum, but close.

All suggestions welcomed, many thanks!

I don't understand why you changed FF1 back to 1?

If you had FF1 set right the peak errors would be less than 0.001, but with FF1=1 the peak error is nearly 0.0025.

I think some D would also be beneficial.

Todd, thank you! Over the weekend I worked both axes, set MAX_Acceleration on "Y" from 10.0 to 1.2, to match "X" axes. I have no excuse for FF1, as you see the attached pic I have tweaked again to keep ch 2 (pid.x.error, units are 200u/div!) centered on zero. How do you reference the trace and figure the "peak error" value?

Many thanks!