I have just got the lathe on the internet so I uploaded a screen shot of the I weirdness <http://imagebin.ca/view/Yh4hGxr.html>. It shows a long move followed by the term returning the axis to position. The big spikes are accel/decel. Here is a shot with the I term turned down to 0 but everything else the same <http://imagebin.ca/view/3Uj1P_1.html>. I still need to play around with the tuning to get rid of those acceleration spikes. The accel is set very high at the moment for testing purposes.
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