Screenshot of tuning start point

Attached is the basic start point for me tuning my first servo. If there is any info that can help me get this motor tuned properly, that would be fantastic.

Thanks in advance and please let me know if this photo needs to be changed in some way to help you see my situation. I'll likely be fiddling with the settings to test it through Halscope, but so far, after doing so, I can't seem to get the error trace to change it's waveform too much.

Thanks in advance,

Scot

you shoudt start here
its a good way to get the best out of your servo system
gnipsel.com/linuxcnc/tuning/index.html

For tuning in halscope you need
joint.0.f.error
joint.0.cmd.velocity
Other things to bare in mind:
FF1 can not be more than 1
upload a hascope with the above values after a short move.