Hi Mark,
That's good progress. Errors are < 250 counts (0.0033 inches) while accelerating and < 25 counts (0.0003 in) while moving at 20000 counts/sec (0.27ips = 16 ipm).
Attachment 474804
You should note that to make such a move at that velocity and acceleration no more than 250 DAC counts are being used. So increasing the limit beyond the 1000 that you currently have will have no effect. In fact you could reduce it to say 400 and it would also have no effect. The idea is to set the limit just beyond what is normally needed so that if something goes wrong things will be less dramatic.Should I try to increase the output?
Note you are only using < 15% of the available output so it is likely you could move with higher velocity and possibly acceleration if you desire. It would be a good time to consider your requirements and what your goals are regarding velocity, acceleration, and error.
Along the same line since errors are always below 250 you might reduce the Max Following Error to say 1000 so if something goes wrong (gains too high) the axis will fault and disable rather than doing something more violent.
The next step would be to optimize tuning by increasing D P and I gains in that order (if you haven't already done so). Plot Position Error so you can easily observe the maximum error for the move. Increase until things go unstable and then reduce back to a point that is very stable. You may need to repeat the process as the parameters are somewhat interactive.