Ok. Adjusted drive Gearing and Line Number to 2000. Re tuned drive. And adjusted Kmotion, with 100Hz filter applied. When adjusting I value above .003 the output plot starts to look rough with spikes. Adjust it to .005 and motor starts to get rough sounding and plot becomes very "noisy" looking. Is there something else i should adjust with the I gain value set at .003?
When i tried to calculate error counts to inches using the Error plot i get a number that does not make sense. Here is what i was calculating....
16 counts of error / by 20320 counts per inch = 7.874015748031496e-4
If i do 7.874015748031496e-4 * 25.4/.03937 = 0.0007874 . Dont know if that is correct or why it comes out, but is error 0.0007874"?
Thanks,
Troy