I have been changing all these parameters little by little, but can’t seem to smooth it out at slow speed, like going 1” per minuit.
Increase the D (2 x P) as you increase the P. Increase the P 200 (and D 400) points at a time until you get the stiffness you need. A jump to 1700 is probably too high.
The D derivative is the vipers best software feature as it makes the motor stable without reducing bandwidth.
Disturb the motor (fast short burst of 50-100 steps) and adjust L for deadest responce.
Larry K
Manufacturer of CNC routers and Viper Servo Drives
www.LarkenCNC.com and www.Viperservo.com