Clenaup tuning

hugo/content/manual/knowledgebase/hardware/EL70x1.md

@@ -132,11 +132,7 @@ There are normally several control loops in an ecmc system:
 
 However, for the EL70x1 drives there's no dedicated velocity loop (however some current boost settings that can be applied in acc/dec, see below)
 
-For more information see [tuning](../../tuning)
-
-#### Position loop
-The position loop control parameters can be accessed and tuned by PVs. Normally, a pure P controller is enough (ki and kp set to 0) but sometimes the I and D part can be needed.
-
+For more information on tuning the position loop see [tuning](../../tuning)
 
 #### Current loop
 For most usecases, the default current controller parameters are already well tuned. Sometimes when operating at higher speeds the current loop needs to be tuned. 
@@ -147,14 +143,13 @@ For EL70x1 stepper drives the following parameters can be tuned:
 * 8011:01 Kp factor
 * 8011:02 Ki factor
 
-** 8011:07 Ka and 8011:08 Kd factor: **
+#### 8011:07 Ka and 8011:08 Kd factor:
 
 8011:07 Ka factor / 8011:08 Kd factor are “current boosts” during acceleration/deceleration.
-Default they are set to 100% which is way too high for most applications. Start by setting these parameters to 0.
-    
-** 8011:01 Kp  and 8011:02 Ki factor: **
+Default they are set to 100% which is normally is too high for most applications. Start by setting these parameters to 0.
+
+#### 8011:01 Kp  and 8011:02 Ki factor:
 This is the current loop settings and this is also what affect the performance. The higher you set these registers, the stiffer the control loop.
 For most applications it is important to keep a ration of 40:1.
 Default is 400 / 10, if you want a stiffer loop, then change to f ex 800 / 20 and onwards.
 Increase until the motor misbehaves and go back to a safe setting.
-

hugo/content/manual/knowledgebase/tuning.md

@@ -6,25 +6,22 @@ chapter = false
 
 ***
 
-### EL70x1 Tuning
-
-For EL70x1 stepper drives the following parameters can be tuned:
-* 8011:07 Ka factor 
-* 8011:08 Kd factor
-* 8011:01 Kp factor
-* 8011:02 Ki factor
-
-#### 8011:07 Ka and 8011:08 Kd factor:
-
-8011:07 Ka factor / 8011:08 Kd factor are “current boosts” during acceleration/deceleration.
-Default they are set to 100% which is way too high for most applications. Start by setting these parameters to 0.
-
-#### 8011:01 Kp  and 8011:02 Ki factor:
-This is the current loop settings and this is also what affect the performance. The higher you set these registers, the stiffer the control loop.
-For most applications it is important to keep a ration of 40:1.
-Default is 400 / 10, if you want a stiffer loop, then change to f ex 800 / 20 and onwards.
-Increase until the motor misbehaves and go back to a safe setting.
-
-### Backlash
+### Tuning
+
+There are normally several control loops in an ecmc motion system:
+* Position loop (centralized in ecmc if CSV)
+* Velocity loop (in drive)
+* Current loop (in drive)
+
+#### Position loop
+The position loop control parameters can be accessed and tuned by PVs. Normally, a pure P controller is enough (ki and kp set to 0) but sometimes the I and D part can be needed.
+
+**Backlash**
+
 Tuning systems with backlash can be difficult. Sometimes a small D-part helps to reduce spikes in the centralized ecmc position loop controller output.
 
+#### Velocity and Current loop
+These control loops need to be tuned in the drive.
+
+For EL70x1, see [EL70x1 tuning](../hardware/EL70x1)
+For other drives, consult the dedicated manual.