[jnnewton]

Torque and voltage plot were done in torque mode, the one with following error is done in velocity mode.

So, from your last post, I think that you are saying that there is nothing that can be done to get more peak torque from the motor, correct? The voltage is already at 150VDC, I could go to 160VDC, but that's not going to get close as it looks like I am at about 1/2 of peak right now.

I am going to try to tune in position mode now, as you suggest.

[jnnewton]

I tuned in position mode and hooked everything up to the load, and it doesn't move. So i changed to velocity mode, same thing.

The odd thing is, if it's in torque mode, it will move for 2-3 seconds, then if i remove the input and re-apply it, it will start moving again. I can move the entire axis in short bursts of 2-3 seconds, but not all in one continuous move.

I thought this might be from the motor thermal constant, but that is set to 660s.

It should take less than this to move the entire length of the axis in torque mode, assuming it would continue moving.