Position control vibration


After calibration and closed loop control,the motor doesn‘t vibration.But when i use can-simple control motor to some angle ,the motor would vibrations when it stop at that angle.
therefore ,my question is :wink:after closed loop control ,The default control mode is position control.why i use can-simple position control ,the motor is vibrating in a some angle(like ±7°).

Thanks,looking forward for your reply.


Does this have anything to do with CAN?
If you command the same position by setting controller.input_pos it probably still vibrates. It probably also does so after you manually move and release the motor too.

Try halving the position gain, and then doubling the velocity gain. That should dampen large oscillations.