I tuned the drives to the best of my ability, from what i understood from the manual. I set all the pots to zero and put the amp in tachometer mode, adjusted the offset pot until the motor stopped rotating ( except the mentioned creep) and then adjusted the loop gain until there was oscillation and backed it off 1-2 turns. This is as far as I have been able to progress, none of the PID settings in emc seem to make any difference in the following error. I attempted Daves suggestions without any luck.
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