Help with the big picture

andypugh wrote:

If you are using the 7i77 then you pretty much have to use analogie voltage control.
Position control with analogue voltage is a terrible idea, so not that.

Torque control and Speed control can both work, but speed control is likely to be much easier to tune.

I was recently introduced to a very simple and effective way to control an axis under speed control.

Set up the PID for position control, in the usual way.
Connect pid.N.command-deriv to joint.N.vel-cmd

Set P I and D to zero, and adjust the pid.N.FF1 value until the axis speed and commanded speed match exactly.

Then you should find that all you need is a very small amount of P gain to bring things under control.
 

Is this method a better alternative from classic method?
(increase P until oscillation then reduce P to 70% then eliminate cruise ferror with FF1 and fix start-stop error with little FF2)
Can you give an example for a hal file generated by pncconf ?