888
« on: April 29, 2016, 07:24:24 AM »
Ok what to do to be sure is,
Move the axis one way, by maybe 1mm, with the gauge against it then move it the opposite way by the same amount and see if it returns to zero. If it does then there is no backlash.
You have relatively course pulses per rev due to the linear scales only being 0.005mm resolution and it could just be the way things will be.
A servo does not sit stationary like a stepper motor would, it moves back and forth a small amount to keep to the position. With good tuning and a highish resolution encoder you would see no movement as it would be so small but it will be moving.
I think your tuning is still not great, I think you will need to do the auto tuning at a much higher speed, I did mine at 100%. I aso had to fine tune the servo tuning after I did the AutoTune as it was fairly close but not as good as I liked. It was a long time ago I did the tuning so maybe the Auto Tuning has improved since the early days.
Hood