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

Todd, thanks! The attached trace best so far today, "P" did not want to do much to lower spike, until way hi value. The units are ch 6 & 9 = 200m/div; ch 8 & 10 = 500m/div; ch 7 (pid.x.error) is 200u/div. This has got to be close, open to suggestions!

Many thanks!

Edit: I am using the same exact area of the "y" axes ways, so back up (the 2 or 3") after every trace test, and start approx the same place, to reduce any chance of (ways/gib/friction) introducing any variable. It appeared that close to colum of the mill where the "y" axes travel is tight may be an issue.
 

A little too much FF1 and FF2. Try FF1=2.6 and FF2=0.3.

Todd, thanks! Attached is the trace with suggested changes, looks good!

Many thanks!

Still a little much, try FF1=2.5 and FF2=0.25.

Todd, thanks! Attached are the trace you suggested, including a trace of just 1 change at a time, for reference. After updating the 1st suggestion that made the big difference, I tried several small changes with all of the variables, 1 at a time & I could not better the settings you suggested.
This group of traces I picked the best of 2 or 3 traces with same settings to be shore its not a 1 off, got to be confident. This is very close, are we going to try a higher .hal (MAX_Acceleration) setting, currently 2.5.

Many thanks!
Edit: I have set "Y" axes to this setting:P=1978; D=19.358; FF1=2.5; FF2=.25; & DeadBand=.000053, this looks to be the best yet.

Todd, many thanks for all the help, you set the standard of how to "pay it forward" and a true gentleman.
Attached are the final traces for "X"&"Y" axes, I plan to save this file (the file name I used to setup) in the HAL Scope configuration file as " autosave.halscope"? Is this the correct file name, after reviewing the .ini file, that that values set in the "servo axes calibration screen" have been saved for "x" & "y" axes in the .ini file.
Is there anything I should be thinking about?
Many thanks!