Retrofit Leadwell MCV 600XL

Switching to torque mode, it seems much smoother. Will post my results soon

To my surprise these servos are easier to tune in torque mode. What I am missing still is that I cant quite get out the start and stop overshot , its not much 0.02mm at any reasonable feedrate, but its pretty violent , acceleration is set to 800mm/s
Also there is still present some sort of oscillation , and Z tends to oscillate while going down, its P is lowest like 15 and XY is 60, I was set to 1500 for all axis. FF1 and FF2 have strange effects never seen as in velocity tuning
Thats it for now

I don't think you'll ever be completely rid of overshoot using torque mode with a single PID loop. All you can do is minimize it. You didn't mention D, it will be nessisary to use some D in torque tuning. I've also found that setting a limit for I can also be helpful, especially when very large I values are needed.

Yes FF1 and FF2 do behave very differently with a torque command.

I've had the best luck running two nested PIDs on my torque mode servos. Position command to first loop, that sends a velocity command to a second PID loop that then creates the torque command that goes to the drive. Tuning the position loop then behaves and tunes like an ordinary velocity command servo system.

Yes there is some D but in comparison to P and I its a small value around 0.6 , above 1 and it begins to vibrate at 2 its veri violent so I settled at 0.6.
I dont mind the overshoot but would like to soften the response somehow, might be its because the machine is on box ways and has lots of stick .

For now I will leave it as is , after I finish the ATC and other stuff I may get another round of tuning


This is the best I managed for X but its not same obviously in the middle of travel its like this but it a bit worse on start and end where the ways are tighter

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First blood today

successful toolchange , still without spindle orient until I mount the new encoder

And this was the test piece, some adaptive milling in aluminium. Machine is behaving very smooth

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Nice !