Servo tuning issues

I am having difficulty tuning these servos.

Dc servos with drivers +-10v velocity

When i command move jogging as shown in pics when i stop, the acis keeps moving. Cant figure out how to get rid of it.

can you post your hal and ini files?

Just powered up and starting tuning so the hal and ini work in progress.

as a first step, I would remove all the

setp pid.N.maxerror .0005

statements

It is a little hard to tell from just those traces.
But I think it looks like you need a lot more P, It looks like you are running mostly open loop now, only relying on the feed forwards to move the machine. See how the error grows at a constant rate until the end of the move, then it slowly shrinks as the very weekly tuned PID loop slowly reels the error back in.
I like to also look at the velocity feed back, beside the velocity command trace. Place them right over top of each other so that you can easily see how closely the the velocity feedback follows the velocity command. If you are using a Mesa card the hal pin should be something like hm2_5i25.0.encoder.nn.velocity. If your encoder reader does not have a velocity feedback, (pretty sure most all do) you can get a mathematically calculated one from the PID on the pin pid.N.feedback-deriv.

Thanks pcw, that fixed my issues, now i can tune properly.

Why is pnccof setting that parameter?

It makes sense for the stepgen PID loop but not normal servos
I think this is fixed in 2.7.11 but not sure

AH.... I didnt upgrade from live CD.

Thanks....