started over with the motor tuning. Firs one showes a high P-gain with no
D-gain to slow it down, the second picture the P-gain is reduced to 1 and started to add D-gain to smooth out the wave form
started adding more P-gain till it started to become unstable again then increaed the D-gain to smooth it out some more.
Zoomed in on the plot to see how it looked. looks good to me but
I am not for sure.
Now when I apply a little pressure to the motor shaft it does not track the comanded position verry well, and I notice a little bump when the move starts every so often. Zoomed in on the beginging of the plot and noticed a little oscillation. I hav no Idea where that is coming from.
I hope these pictures can help you help me.