Stepperonline A6 - How to properly Tune them?

autotune usually has a global stiffness setting. So for example with my omrons, a setting of 15 is pretty soft and would wiggle as you describe, 20 is pretty decent if you have lower dynamics, and 25-30 is super stiff tracking.

So, assuming the software is doing what its meant to do you simply might not be ably to get the stiffness you desire with your machine and motor and acceleration combination. Your machine may just have too much of an inertia load and you might need a larger servo.

Once autotuning does its basic job, and you find that its not quite as good as you'd like, you can use then "go form there" with some manual tweaking of settings. I had to do this with my Y axis with my omrons, but the x and z were "perfect" after autotuning.

I got one of these coming tomorrow for testing.