Hi, thank you for your answer.
I still have problems with this, so here is some more questions.
1. I am getting a perfect curve on the step response, similar to attached picture (1), only with shorter time scale. The step response report under the chart that settling time is 500-600mS, which is settling time (<100mS) and steady state (>400-500mS) together. This period seems to be the same that i am experience with "move complete.vi".
I have Kp=7 Kd=14 and Ki=1, and i have tried to adjust these values but this is the best i get.
Does the loop need that time to determine that move is complete?
2. The move i want to do in my application is a movement about 20000 counts (50mm) in 130mS, wait 100mS and return to start in 130mS, this is possible if I use
software delay and start return move before first move is settled according to "move complete.vi" But this generate a increasing stop position error each move if I loop this sequense with 100mS rest time. These timings should be possible with the hardware I am using. Any suggestions?
3. I have set the driver/amplifier in velocity mode (incremental encoder feedback), how is that compared to torque mode in the driver in this case?
4. It is possible to get a second feedback from the drive (torque, velocity or position from an analog output) but this is 8 bit and less accurate than encoder. I also have a second external encoder for precision measurement and a force cell, but they are only active parts of the range to the servo (under the desired move) is there any other way i could set this up?
Regards