I mentioned yesterday that the RT was rotating "backwards". Say, if the pointer arrow was at 20 degrees and I told it to go to 30 degrees by saying
G0 A30
it would actually go backwards and stop at 10 degrees instead.
Well, I fixed it by reversing DC leads and by changing the sign of INPUT_SCALE.
I am also sure that I have some kind of a tuning or mechanical issue with the RT and will try to open it up on the weekend. It takes a lot of torque to move (about 3-5 amps) and moves in a slightly jerky fashion. It may also be a servo loop tuning issue too, purely a software problem or a wrong setting of the onboard pots on the DC servo drive.
i