Editing Granity user guide/Tuning

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<sup>1</sup>) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.
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1) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.
  
 
===Velocity controller gains===
 
===Velocity controller gains===
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[[Category:Granity_user_guide]]
 

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