I have several problem with fanuc 6MB at Yamaguchi MC
1. when I move X axis to (-) direction it goes smooth. but if I move to opposite (+) direction, the servo vibrates so hard.
2. its happen to Z axis too with contrary case. when it goes up (+ direction) looks smooth. but if I move to minus direction, it just move a little then alarm comes up. (430 Z Servo)

I've compared whole parameter with Y axis with normal condition,but no luck. its still the same. Maybe I miss some parameter

What should I check to fix that problem?
Thanks in advance

PS : DC Servo Motor type 5M with VCU A20B-0009-0320