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command vel oscillate during pid tuning


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hi, everyone


i meet some problems when i use turbo pmac 2


to tune the pid parameter of an axes


the motor i used pull via a screw


I set kd=0 and a proper kp and ki


and it seems that a step folloing is acceptable


but the command velocity oscillated during a sine wave following


the period of the oscillation and following error appears to coincide


but i do not think that is a reasonable answer


can any one spare me a help?



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