poor surface quality

I have had a good look through the manual, unfortunately, no tuning software but i have looked at these parameters and looks like they can help.

P08-00 Speed loop gain.
P08-01 Speed loop integral time constant
P08-2 Position loop gain
P08-15 Load inertia ratio
P08-19 Speed feedforward gain

Yep, I think you normally tune the inner (velocity in this case) loop first

See user manual, switch screen to position error display mode
look position error when running

tuning speed loop , you can change display to speed error mode, then tuning position loop 

regards

Finally Fixed! Before and after pics attached.   



 

That looks nice now!