Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders

Todd, thanks! Attached is best trace, the units are ch 3 & 5 = 500m/div; ch 1 & 4 = 200m/div & ch2 = 500u/div. The settings are on the screen. What do you think?
Many thanks!

Yes that looks pretty good. Might be able to improve the cruse error with some more little tweeks of FF1 and FF2. But otherwise that is probably about as good as your going to get it.

Also put the deadband back to where we had it. (That should quiet down the dithering when the servo is at rest.)

Once your done be sure to save and back up your settings.

Todd, thanks! The attached pic is the best trace with settings for "X" axes. Now for "Y" axes, start with the "x" settings?

Many thanks!

I think you may have adjusted FF1 in the wrong direction. (A negative error on a negative direction move is the same as a positive error with a positive move.)

As to starting with the Y, I don't think I'd start with the X settings, but something a little more conservative. Maybe half the P and D. FF1 and FF2 will be question marks. I don't think they will be the same as X.

I'd set set the deadband = 0.00005 instead of 0.000001.

Todd, This pics are of DeadBand only. The error looks lower with DeadBand=.00001, that was the reason.

I set .ini MAX_Acceleration to 1.2 from 2.5 for "Y" axes.

Many thanks.