Making good progress. I got Y moving and tuned, it was a bigger pain than X was. I copied over the drive parameters from the X drive to the Y drive thinking I would be close by just copying the values from the X channel to the Y channel in kmotion which just resulted in oscillation. Same motors, same drives, same screws, WAY different tuning. I seem to get better results by lowering the velocity integrator in the drives considerably compared to where it was with the old control. I read that a cascading velocity position loop should be tuned inside out (velocity loop first) because typically the velocity loop is faster than the position loop. If I understand correctly I am wondering if in this case the drives velocity loop is actually slower.

In any case I got it tuned to under 20 encoder counts at all speeds, will have to see how it cuts when I get that far. Couldn't get it under 180 counts without lowering the drives velocity integrator.

Tomorrow I will try to get the Z going and look in to homing.