Arrows keys -> spindle in wrong direction

Looks like a little too much FF2.

How much P can you add before it becomes unstable?

OK, will have to play more tomorrow.
I do not know how much P I can do, will let you know tomorrow.

Is the PID error optimal as a horisontal line? Or same wave form as the 2 other pins?

A flat line of 0 is perfection (you'll never get there though)

LoL

I just started to play with Y axis and got 3 similar wave forms. Sluggish axis movement at the end.

Still a lot to tune but I got tired and then it is better to do it tomorrow. Any suggestions?

More P.

PS
I am a little surprised that the P for your X would be less than 10. On my closed loop step/dir servo I have P between 200-500.

This behavior (creeping an end of move) is often the result of pncconfs default PID
maxerror setting which is OK for inch machines but not for mm

Set it to 0 or .01

Hmmm, what line in INI is that PID maxerror?

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 70
MAX_ACCELERATION = 100
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 110
STEPGEN_MAXACCEL = 200
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 400
DIRHOLD = 400
STEPLEN = 800
STEPSPACE = 800
STEP_SCALE = 1000
MIN_LIMIT = -430
MAX_LIMIT = 10
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.00000
HOME_LATCH_VEL = 3.00000
HOME_FINAL_VEL = .500000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
ENCODER_SCALE = 1000

Doh.. the line is in HAL

#*******************
# AXIS X
#*******************

setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005 >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> change this value to 0 or 0.1 ??

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output

# Step Gen signals/setup

setp hm2_7i76e.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 2
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in

i thought I suggested commenting that line out further up the pipe.
forum.linuxcnc.org/9-installing-linuxcnc...rong-direction#99517

It is removed as per your suggestion, so many lines/parameters makes ones head spin around.