Tuning the Position control

[RKhal.7]

Finally was possible run the motor on my CNC machine and do a position control, I want to share the graph that I received from Current_Position register.

There is some overshoot in my position control and I would like to tune it as much as possible.

So, What would help me to have a nice plot?

Playing with Position Ki,Kd? Working more with Iq and Id? add more cap into my driver system? I also try to config the max current limit on Workbench but seem there is no parameter to adjust that! My motor normal Current is 5.2A at pick of 15A but workbench set into 30A limit.I used IMH08 with 431 controller board 3sh sensor.

[FouadB]

We would like to sincerely apologize for the delay in replying to your post.
If your point is still relevant, please refer to the Application Note AN5464 (Chapter 5.9) which explains how to tune the PID used for position control.