Uploaded November 2025 | Updated September 2026, 2 weeks ago
The tuning in the drive makes all the difference with regard to VFA and overshoot.
What looked good to me, tuning wise in the software, was too soft.
ADXL graphs helped immensely to see the result; change drive tuning, test again.
IIRC, I started in the 5K range with a very wide graph, one that ramps up quick and then comes down gradually. After tuning I am only able to reach 20K acceleration recommended. Needs more tuning, of which I need a break from! 1 solid day of running scope graphs, ADXL, and gcode files to monitor the graphs.
The better settings, so far, is high gain and the lowest integral I can use before oscillation. Then tweak the torque feed forward.
The drive likes to spin the motor +~200RPM for smoother, low jitter, operation. Having a tight loop, for higher speed, will cause jitter at lower RPM. I really feel I need to use 2 PID loops and crossover at some point, related to speed.
I was not able to tune it with two loops. That crossover point caused jitter and I didn't put a lot of time into trying to figure it out. I will re-visit.
My expectation level was 100% to start on how well these would work, but I still have hope.
Voron Cube, ABS, .4TC nozzle, 30K acceleration, 60SCV, 1000mms commanded, 285C.
Vase mode vase, commanded 600mms, 20K acceleration, 20SCV.4TC nozzle, 280C, .6LW, 40mms3 flow average, 60+ max. (cooling limited in some areas)
Before sanding
X- 59.93
Y- 59.94
After sanding
X-59.88
Y-59.88
Difference- .05
The tuning in the drive makes all the difference with regard to VFA and overshoot.
What looked good to me, tuning wise in the software, was too soft.
ADXL graphs helped immensely to see the result; change drive tuning, test again.
IIRC, I started in the 5K range with a very wide graph, one that ramps up quick and then comes down gradually. After tuning I am only able to reach 20K acceleration recommended. Needs more tuning, of which I need a break from! 1 solid day of running scope graphs, ADXL, and gcode files to monitor the graphs.
The better settings, so far, is high gain and the lowest integral I can use before oscillation. Then tweak the torque feed forward.
The drive likes to spin the motor +~200RPM for smoother, low jitter, operation. Having a tight loop, for higher speed, will cause jitter at lower RPM. I really feel I need to use 2 PID loops and crossover at some point, related to speed.
I was not able to tune it with two loops. That crossover point caused jitter and I didn't put a lot of time into trying to figure it out. I will re-visit.
My expectation level was 100% to start on how well these would work, but I still have hope.
Voron Cube, ABS, .4TC nozzle, 30K acceleration, 60SCV, 1000mms commanded, 285C.
Vase mode vase, commanded 600mms, 20K acceleration, 20SCV.4TC nozzle, 280C, .6LW, 40mms3 flow average, 60+ max. (cooling limited in some areas)
Before sanding
X- 59.93
Y- 59.94
After sanding
X-59.88
Y-59.88
Difference- .05
