SBL2360 acceleration

Hi. We have bought from You controller SBL2360. We use it to control the engine us.nanotec.com/products/641-db42c01 / + reducer us.nanotec.com/products/822-gple40-2s-25/ + encoder us.nanotec.com/products/240-weds5541-a14-5-mm/. When I set the acceleration of 4000 RPM / s starts twitching and intermittent movement. In feedback encoder. Settings pid controller following P=1, I=0.5, D=0.5?

If you are in closed loop speed mode, try starting at 0,1,0, and then tune from there. Simpler gains are better in PID tuning.

Put. But it is not possible to achieve acceleration speed. How to deal with this?

Once PID tuning I achieve the desired characteristics, appear twitching and wobbling in the wheels. When installed on the ground or increasing another load on the cart there is a cyclic forward movement back. I reduce settings of PID I cannot disperse for the necessary time.

Thank you for your support and participation. The problem is solved. We are grateful for the high quality of your controllers. We will recommend Your products to our colleagues.