poor surface quality

They are lichauan a5 drives

1. measure the voltage powering the drives at standstill, when 1 axis is moving and when both axis are moving.
2. while motors are enabled and not turning, use pliers and try to move the motor, how much does it roughly move?

Hi tommy, 

The voltage was the same at both drivers. I have dug a bit deeper and used Halscope and probed 

Joint.0.motor-pos-cmd against hm2_7i95.0.encoder.01.position

For both X and Y, I cut a few circles using arcs, and this is my result. Looks like the motor isn't keeping up with the encoder?

I wasnt sure what /k to use, so I have attached two screenshots, one all even /k and some scaled to fita better curve. This is all new to me so apologies in advance. 

I'm using Step/Dir Servos, I have just temporarily fed the endcoder back to LinuxCNC for testing. 
Im using 1kw ac servos by Litchaun 4NM the machine is a Haas mini mill. any thoughts?
   

As had been suggested before, it looks like the drives themselves need tuning.

That's correct. I'm going to try to adjust the gain settings and see if I can get this tighter. Any suggestions what settings to look for? Many thanks

Probably need the drive manual for that...

If it's like a classic motor drive, there will be three nested PID loops:

1. Torque (current) command/feedback --> torque (current) out
2. Velocity command/feedback --> torque out  
3. Position command/feedback --> velocity out

Is there any tuning program available for the drive?