OMS VME58-4S / brushless motor / servo-star3000 / motor 6.2

[jerome HOSSELET <jerome.hosselet@ires.in2p3.fr>]

Dear all,

In fact, I agree with you to solve problem metodically:
When I boot my system, I see motor oscillation .
after that trying then to move the motor,
I see TORQUE change in DISABLE status.
If I want move correctly, I must to set this commands:
SM("AT KP1 KD0 KI0 LP0 HN",0)
taskDelay(100)
SM("AT KO.1 RE",1)
taskDelay(100)
SM("AT AN",0)


Now Motor is working in both direction with PID : KP1 KD0 KI0
When CNEN (torque) is on/off, motor can'nt move with hands.
(for handly moving a motor I must to disable a servostar)
Encoder increase when motor increase. Our encoder is phased.
Status update ok, I see a button.

Now I try to access a final position very fastly (with no retry) but I 
have a biggest error between a final position and desired position.

My setup is:
SREV= 2048 step/REV
UREV= 360 °
EGU = degrees
=> MRES = 0.17578
I put ERES & RRES with a same value
ERES=RRES=0.17578

-1/ Is it correct that ???

I use only READBACK.

-2/ How to turn off backlash  ??
   - Is it a motor with no charge ??
   - Is it a motor with no belt ??

We use a brushless motor & servo-star 300 & OMS58-4S

We would like to see one pulse more largest.
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