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I am building out POC with Teknic ClearPath EtherCat servos and so far the Cia402 driver is working great.. I have a question around PID tuning.

I ran around in circles trying to get the right P, I, D, FF, FF1, FF2, etc settings and couldn't get the servo anywhere near its limits before it would fail out with a joint follow error.  

I got rid of all the PID settings and now it won't fail on following but it runs a f-error of about 5.8 when I do some long mock moves (the 5.8 on the scope is a nice trapazoid shape with a ramp up, flat top and a ramp down.. )

So folks with servos that have their own internal control-loop, how do you configure your PID or tune so that when you have 3 of these guys going their combined f-errors don't cause you to make wonky parts? 

Thanks in advance..  Since this is mostly a theory question I'm not posting configs, but happy to if folks ask. 

I don't think there is a pin 0 issue as this is a 7I96s and the encoder is on pins
27,28,29

Language may be the issue, I don't know enough about locales and translations
but do all strings in the source get translated? (en_US):

                    if "Arc Voltage" in pinchanged:
                        self.d._arcvpin = pin
                    elif self.d._arcvpin == pin:
                        self.d._arcvpin = None
                    if self.d._arcvpin and self.d.frontend == _PD._QTPLASMAC:
                        self.p.page_set_state('thcad', True)
                    else: