Following Error keeps creeping up

hi,
My machine has issue about following error keep rising during Gcode execution. Jogging 3 axis simultaneously at high speed ( 9m/min) for extensive time is ok. Reducing  the speed and accel to 3m/min  and lengthening timing pulse still doesn't fix the issue.
below are my hal and ini

In your ini file, the P value for each axis/joint is set at 0, how did that happen?
The value should be 1000 for stepper systems with the servo period set at 1000000

I used the template from PnCconf for 7i96 and modify to fit 7i95
Those number was from that config
My host computer is a Rpi4 so the servo period is higher
The axis are driven by Yaskawa sigma 5 servo motors
What should the P value be for servo system?

Depends on servo period, for 1 million it is 1000, for 2 million it is 500, and so on.

Yes, a good default P term for the stepgen  is 1/servo-period
so 1000 for a 1 mS servo period.

The physical meaning of a 1/servo-period P term is that any
measured position deviation is corrected by the next servo period

A P term higher than 1/servo-period will result in correction overshoots

A P term higher than 2/servo-period will result in oscillations.

Having a 0 P term will eventually cause following errors as the stepgen position
drifts due to small differences in the hardware and LinuxCNC clocks.

 

I will change it tmr,
I always thought the drive takes in the step gen and handle the rest. So in case of a open loop system, does P term still need to be 1/servo period?