Advanced tuning(if you want to spend a lot of time but get every bit of performance out of the servos): <YT link>
He disables gain switching but still modifies "Position control gain 2"? That's a bit strange. I'm pretty sure gain 2 only comes into play when using gain switching. Worse: in the YT comments he suggests tuning the position loop first, then the velocity loop. That's really bad advice. So while he does manage to get a good tuning I'm not sure his method is sane or that he really knows what he's doing.
Edit: It's pretty frustrating really, seeing him randomly change values without a clue and trying to come off as someone who can teach others how to tune servos.
For an excellent tuning tutorial I recommend Yaskawa's "Sigma-7 Servo Tuning" tutorial series:
www.youtube.com/playlist?list=PLNAENlyED...QGvDJOps3g88m4auq5h_
Start at "06 - Servo Tuning Basics" and then look at e.g. "10 - Autotuning", "11 - Custom Tuning", and "12 - Tuning for Low Position Error" (and any other parts that look interesting of course!). While the tuning is done on Yaskawa Sigma-7 the parameters and methodology are basically the same with any servo.
