> > Judging from the traces, I suspect you have velocity mode servo amps,
> > and I suspect their velocity loops aren't tuned. It doesn't make
> > sense to tune EMC's position loop when the drive velocity loop isn't
> > right - the position loop builds on the foundation provided by the
> > drive.
> >
> > If you can tell us about your drives (and ideally post a link to a
> > copy of the drive manual and/or specs), we can probably help more.
> >
>
> The servo drives are from Advanced Motion Controls. They are Direct PWM
> Brushless DC Servo Drives Model# BD30A8. The datasheet can be read at
> http://www.a-m-c.com/download/datasheet/bd30a8.pdf . I talked to their tech
> support and there is no current loop or velocity loop in the drive. They
> told me the PWM signal directly controls the amount of time the MOSFETs are
> turned on. If it was a brushed DC motor, I understand that the PWM duty
> cycle would have a linear relationship to the average voltage and hence
> average speed of the motor, but since it's a brushless DC motor, I don't
> understand if that same relationship holds or not.
>
AMC has instructions on their web site (little hard to find the right one)
on how to tune the servo drive itself.
Are you sure the drive is set right for velocity mode?
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