Hi,
It would also be worth measuring the tacho output to see if it is within the expected limits.
Good idea, get the servo spinning as fast as you can, preferably with some means to measure the speed and
then measure the output of the tacho and compare to the spec.
When I get home tonight I will look a bit more closely, but what it amounts to, at the moment, with you having disconnected
the tacho, is that amp is now a 'voltage driven current output amplifier' also called a transconductance amplifier.
By disconnecting the tacho you have broken the feedback loop which turns the transconductance amp to
a 'voltage driven voltage output amplifier'. Note this feedback loop is within the drive and has nothing to do
with the PID dynamics of the CSMIO.
Much of my University experience with these devices was with a plain transconductance amp, ie torque mode.
Unless someone can tell me what advantage having the extra feedback loop, especially as it doesn't seem to work,
is I would not bother with it. That is a very preliminary assertion on my part and thorough investigation is required
before you adopt the idea.
It may be for instance by removing the tacho feedback you have effectively increased the command gain to where it should be.
Thus with the tacho loop reinstated AND the command gain increased to where it should be then the setup would
now work as the manufacturer intended.
Craig