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Try another network cable, kinked or nicked or stepped on cables can cause issues. Also some cheap cables will cause a lot of headaches, sometimes even not so cheap ones as i had a brand new never used cable that would absolutely not connect to Mesa. I did cut it into many tiny pieces Over 30 of the same brand worked fine.

Pinned for easy finding.
Thank you.

Ok,I will give it another shot.
I appreciate the help.

Set ferror and min ferror to 5 or so and then tune FF1 then P.

Note that if previous PWM scale was 10 (so the output would be scaled in volts)
changing it to ~50 makes the P term need to be 5 times higher for the same effect

For tuning, use halscope and plot  joint.n.ferror and joint.n-vel-cmd
if FF1 is too low, the following error during a constant speed jog
will be in the same direction as the velocity, if FF1 is too high, the
following error will be in the opposite direction of the velocity.

For P, I would just increase until you get oscillations, then back off about 50%