I have hooked up a DMC 1425 with an analog servo amp and tuned the servo with Galil software. BNed to the controller and the jogs and encoder accuracy are fabulous! The problem is when I go to MDI and enter a move. Slow or fast feedrate gives me a back and forth jerking move that gets to the commanded position but jerks. I purposely detuned the PID loop to make sure the instability wasn't in the DMC/amp/motor loop. Lowered accel/vel in Mach and still get the same thing. Jogs are still fair in the detuned state but not great. I have overlooked something but can't figure out what. This setup shows the greatest potential of all the software/hardware combos I have tried and I would really like to iron out the last issues with it. Thanks in advance.