Hi Toneski,
You should be able to do much better. Note when adding load on the motor the tuning will change.1. Can I improve on the current set of parameters at this stage?
The error is large because only your P Gain is doing most of the work. With only P gain an error is required to create any output:
Output = error x P
So to have a DAC output of ~1800 to command the amplifier to move at your top speed
1800 / 0.6 = 3000 counts of error would be required.
In order to have small errors and not to rely on large error and P Gain something else must provide the required output.
Possibilities are Velocity Feedforward (VFF) or Integrator (I Gain).
Your I Gain is too small to do much within the time of the move.
Your VFF is helping and reducing the error to about half.
I'd suggest removing the Acceleration Feed Forward and increasing the VFF to reduce the error. If the error is negative indicating the motor is lagging behind, increase the VFF. If the error goes positive indicating the motor is surging ahead, decrease the VFF.2. Can I reduce the following error or is 1100-1200 counts an acceptable figure?
The VFF needs to counteract two things:
#1 - drag introduced by the way KFLOP implements the D Gain of 64. The amount of VFF for this is:
64 x 90us = 0.00576
#2 - provide the DAC output of ~1850 counts at a speed of 450000 counts/sec. The amount of VFF for this is:
1850 / 450000 = 0.00411
Total expected ~ 0.00987
Please read this. I believe your stimulus is too small and too high frequency so there is little movement and the result is all noise.3. How do I interpret the bode plot?
With D Gain you should add a low pass filter to remove spikes in the output. See the section here that begins with "When using D Gain...".do I need any filtering?
HTH