still struggling with torque versus speed reference control.

I still continue to struggle with tuning and controlling a Yaskawa amp
and motor. I am having to use the Rutex step and dir to analog board
to convert step and dir to +/-10v to control the Yaskawa amp. After
many hours of juggling parameters on the amp, the best I can come up
with is a motor that vibrates intensely. I have adjusted the Kp, Ki,
and Kd values all over the map. What is confusing to me is that the
Rutex board needs to have torque (current) mode to work. My Yaskawa
amp can run in torque mode but I don't know if this is current mode.
The motor is very calm when run in this mode and the tuning program
seems to work to some extent. However, the motor does NOT respond to
a + or minus voltage to the amp input when set up in torque mode while
it does respond nicely when in speed reference mode (Yaskawa
terminology). Neither mode allows me to control the motor with my
breakout board due to either vibration of the motor or lack of movement.

Perhaps this is a dead horse, but I continue to beat him...

Keith Clark