Schaublin 125-CNC retrofit.

At 10m/div that looks really good.
Try faster.

Thanks for the sanity check. It is difficult to work out when you stopped improving the tune, and are just chasing your tail.

I am pretty happy with X now. It sounds #right" all the way up to 3m/min. But then I put the micron clock on it, and looked at what happens with 10micron incremental steps. I can really see why industry when to closing the loop with linear scales.

The Z sounds more grumbly. Even when I soften up the drive, and dial back the P. I wonder if I have a mechanical issue in there somewhere?

"have you calculated out the variables fpr the servo control and drive ??
max motor rpm = x velocity mm/sec"
Yes, I have both drives set for 150 RPM / V, so they will max out at 1500RPM.
X 1500 rpm -->1:2 --> 750 rpm screw --> 4mm pitch = 3m/min
Z 1500 rpm --> 1:3 --> 500 rpm screw--> 6mm pitch = 3m/min

My Ini is set for max rapid = 50mm/sec --> 3m/min

Those plots are with the LCNC PID. With the LCNC in open loop, the FError plot is useless, as it is just a divergent graph. In LCNC Open loop, all I could do was keep increasing the drive stiffness with auto tune values till is resonated, then back it off till stable.

Looks like you got it covered, are you now getting good motion and tracking all the way up and down your velocity commands ? if so, mission accomplished sir !

Can you post a video of the noise ?

This is what it sounds like. With a night to sleep over it, it is not bad, it just sounds different.

Sounds healthy on both, Z is heavier so more noise, more motor trying to cope with it, etc etc.