ASD-A2 EtherCAT on LinuxCNC

Good day.
I would like to ask you for advice on how to better set up ASD-A2 and LinuxCNC with Velocity control. (I hope it's Velocity control - I don't know)
I can't set the curve without oscillations.
So far, this is only the "X" axis.
I tried different PID setting procedures. The result is still the same.
In ASDA_SOFT I used "Auto Gain Tining" - values ​​were set, "Auto Resonance Suppression Mode Selection" P2-47 - but no values ​​were set. (for the file "YYXZ servo X last after autotuning.txt overwrite the extension on" .par ").
In the pictures you can see the error when milling the spiral at speeds of 300mm / min and 600mm / min. When I place my hand on the spindle, I feel a jerky movement.
Sometimes it will make a "zigzag error.png" error.
Don't know what I could have set wrong?
Wouldn't Position control be better? (But I don't know how to set it)

HW:
- Chines Milling Router 1325
- 750W Delta servo motor ECMA-CA0807RS
- Delta driver ASD-A2-0721-E
- PC Latency test after startup - Max Jitter 1000 ns, after a while and after resizing the Internet browser window - Max Jitter up to 15,000 ns.
- Linux CNCRouter 4.9.0-11-rt-686-pae # 1 SMP PREEMPT RT Debian 4.9.189-3 + deb9u2 (2019-11-11) i686 GNU / Linux Lcnc 2.9

I will be happy for any advice.
Jirka

Configs

Those graphs look strange for an f-error, most probably due to some FF1 values that i have never seen, never seen an FF1 of over 1 !
That might be why you can not tune them.
Not sure if this is helpful but it does have a lot of info on tuning velocity servo systems with the loop closed in LinuxCNC.
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to

When I decrease or increase FF1 by 5, the error increases greatly.
I'll try to tune it again. I was probably adding great values for FF1.
I will try to add the value of FF1 in 0.1 increments.

What do you think would be the ideal MAX_OUTPUT value in my case?

Thank you very much for your response.
Jirka

Did you see this on that link:
-PCW mentioned several times that the FF1 value can be:

You either calculate FF1 (10/velocity@10V)
or
scale the analog output in velocity in which case FF1 = 1.0
That simplifies tuning a lot, but just so i do not make a mess trying to explain it, i will leave that to someone more "vocal" than me.

Yes. I have seen that. But I thought it was just about Mesa cards.
"velocity @ 10V" means velocity at 10V?
And then would it be like this? (10 / (12000 / 230V * 10V)) = 0.01916666? The Velocity 12000 is just an example and 230V is because the ASD-A2-0721-E operates at 230V. I apologize for the stupid questions. :blush: