Axis is too slow at first/ control mode?

Hello,I have the problem that my axles, no matter which one, always lag behind by 4 hundredths at first, measured in the Halscope, after the start ramp it then drops steadily to about 6 thousandths. I use AASD China Servos and have the original Heidenhain glass scale on my Maho. I've also tried adjusting the servos. The problem persists, I've already tried to set the pid, no improvement.The servo is operated with Step and Dir, it runs in position mode. What I noticed, however, is that the Hal says "control-type 1" shouldn't be "0". However, if I set this to zero, I always have lag errors and the axis does not move. Am I missing any commands?I'm at a loss as to what else to try. From the feeling it seems more like if the control gives a lot more ramp than the servo. which also makes no sense.

Thanks for the reply I have the servo period from 1,000,000 to I think 1,070,000
will post tomorrow the current ini and hal here I forgot.

I set PID once on the servo and only in the software for fine adjustment.

ff0 is at 0
ff1 is at about 1
ff2 made a big difference, so I was able to get down from 4 tenths to around 6 thousandths.

Manuel:

www.bogdanberg.com/wp-content/uploads/20...and-English-v6.3.pdf

Well, unfortunately I can't upload a picture because it's too big, so the explanation again. So when the machine accelerates, I have about 3-4 hundredths of a drag error on the ramp. As soon as the machine is up to speed, I no longer have this drag error and I don't have the error when braking either. my drag error itself is about 6 thousandths. which is perfectly fine with me