vibration at lowspeed.

I tried to adjust gain of admittance module before but no luck.

I understand your point about increasing the update rate to reduce step magnitude while potentially increasing the number of steps.

However, if steps were the primary issue, I would expect the problem to be more pronounced at higher speeds, yet that doesn’t seem to be the case here. Additionally, I’ve noticed a sudden velocity drop that fails to meet the required speed, causing vibrations. This issue occurs simultaneously across all four motors and seems to happen approximately every 100ms. While it appears random, I haven’t yet identified the source of this cycle (admittance module is 10ms update rate), which makes it quite puzzling.

Is your module real time? I have seen similar issues with non-real time
functions being affected by LinuxCNC periodic screen update. 

You are right image missing /media/kunena/emoticons/w00t.png, i tried changing screen update and the vibration spikes up at the same rate.
My module is not real-time, it's a Python module and is built as an embedded tab of Lcnc. I dont think real-time is needed but i may need to find another way for it to not get affected by screen update.