Crusader II retrofit

My system does the same dithering . But, it holds position between tool changes and holds origin from one setup to the next. So in all it hasn't been a problem.

Tried it with all 3 axis wire in.

X slow drift in positive direction maybe a 1 in 10 min.

Y runaway in positive direction hits .5 ferror drifts to a halt. I think.

Z holding steady with slight dither.
X Z tested with Y disconnected.

Don't know where to go now. I've traced the wiring and don't see a problem but I may need to pull it apart and test each lead.

Jim

Yes it spits out a

joint 1 following error

X slow drift in positive direction maybe a 1 in 10 min.

Sounds like X analog out is not connected (or P term is 0)

Y runaway in positive direction hits .5 ferror drifts to a halt. I think.

Likely means you need to reverse the analog out sign on Y

( Remember my list of 4 things needed to get the servo system working )

PCW
Ummm hate to admit it but X analog out and P term are subjects I am more then a bit foggy about. Are you referring to the ENA0 and COM at TB5 DRV0?
P term is that the P value in the ini file?

Thanks for your help
Jim

Since you are running linuxCNC
Go up to tool bar and select machine>calibration

You'll se tune 0
Tune 1
Tune2
These are you axis'

These machines are running a pid (velocity) loop nested in a pid loop ( at least that the way I see it)
LinuxCNC allows us to fine tune the servos

P value on mine happen to be 45
I is 0
D is 0
Bias is 0
FF0 is 0
FF1 is 0.1
FF2 is 0

Try on all axis and see how it reacts