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Tom, I tried applying the Gain "I" for the X-axis. What I first found was that I=0.0000001 would give no effect on the "Position, Command, Output vs Time Plot Type".
Then I started increasing the by one. I was not completely sure what I was looking for the "Plot: Position Error, Output vs Time, Sec" screen.
I did take the "I" value up until I saw it start to oscillate (about 1-2 degrees in each direction servo axis pulley), which was at a value of about I=.01 I=.05 really started to make the servo go nuts. Then I started to back off from about I=.001 until I saw no physical over-shooting on the servo-motor-axis. I did see this over-shooting on the tail-end of the Error plot.
Hopefully this video will help to clarify what I was doing. Video of Gain - I (ZIP file 112mb)
This video shows where I think I need to be on the final Gain "I" setting ... please correct me if I am wrong here. Video of final settings on Gain I (ZIP file 47mb)
Here is the saved Plot File "GAIN_I_TEST.zip" of, what I think is the final setting (all settings can be seen in the "video of the final settings on Gain I" above).
I am finding that setting the Gain "I" is more difficult to tune correctly and interpret correctly form the Error Plot screen.
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J325 Quick Links:
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