PID tuning for LS Mecapion setup with MESA 7i77

Hello everyone!

Trying to PID tune the following setup:

L7SA004A Driver and APM-SB04 motor controlled by Analog Speed input Mesa 7i77.

The setup works overall, but the motor encounters periodic shocks.

Attached the hal scope:



Any idea what causes this shocks?

Thanks!

Hard to tell if this is a noise issue or a tuning issue
Can you post your hal/ini files?

Attached.

The "problem" is on Axis Y - joint 2



Thank you!

Just to test whether this is a noise issue, can you set the encoder sample frequency to 1 MHZ (1000,000)

Note that if the drives are in velocity mode, FF1 does 99% of the tuning

Could you please give me just a bit more info on how to do that?

Should i create a new thread with higher frequency and assign the halscope to that thread?

setp hm2_5i25.0.encoder.muxed-sample-frequency 1000000