I read the control algrithm of Mx-64 from emanual, and use wizard2.0 to test it in position mode
I'm sorry about the delayed response.
When running DYNAMIXEL under the PWM mode, the PID controller won't intervene.
The PID controller works with the Position Control mode or Extended Position Control mode, which only reads feedback from the absolute position.
Therefore, the Current is not involved in this PID controller.
Unfortunately, there is very little information about the internal algorithm that I can share with.
If your PID controller shows a few consistent tick error, you might want to increase the Integral term which will reduce the discrepancy between the goal position and the actual position.
That is what I understand: for DYNAMIXEL in position mode, it is not only PID controller which shown in emanual, but also there is some internal algorithm to increase precision.
if this is the reason, which I can understand why my own PID controller which is lower precise than DYNAMXIEL PID controller.
thanks a lot!!