K2 Retrofit with pico systems servo amplifier and encoders using 7i95t

Hey guys I have been having a hell of a time trying to get closed loop pid tuning going, which i've done before pretty easily.The Z Axis seems to require over 500 P in order to have proper cmd-pos and fb-pos being in line or on target.No matter what I do I seem to get this crazy drift once im done pressing the job button.Maybe someone can help out?I have tried tuning to no end. The Z Axis has a shock which creates resistance from it falling downwards.Maybe my scale is incorrect or something else?The Servo Amplifiers use Digital PWM/DIR

   

"The Z Axis has a shock which creates resistance from it falling downwards."

If you remove the shock, what happens?

Does it fall under its own weight?

Is there any way you can make the Z-axis lighter?

(By removing superfluous stuff to reduce weight)

Perhaps you need a beefier motor on the Z-axis.