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PID Settings for Brushed DC Motors

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dunnitagain:
     I need some guidance with tuneing the PIDS for my Retrofit Project , I can get the tuning good at high speed or low speed but no happy medium .
On X axis my P is 8500 , I is 500 , D is 6500 . Feed For is 2000 . Moves great at 400IPM , but at 20IPM it rings and the drive and motor sing? Ive got 5 Hours in it and only Y axis is good?
This a very large heavy machine with Glentek 4050 Motors and drives . Any advice ?

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