I am experiencing following errors on a gantry router running Panasonic servo drives, I have tried tuning the drives and have got them to a point just before instability sets in. The following error is around 900 counts on the drives. The motors are capable of 3000 RPM and are running a 25 to 1 planetry gearbox with a 50mm spur gear onto a rack, Mach is tuned for 312 pulses per mm with a velocity of 8000 mm/min, in order to achieve the velocity, the drives are running an electronic gearing of 1 to 5. The computer is a core 2 duo 2 Ghz set at a kernel speed of 60KHz (anything higher causes jitters in the pulse train) in order to achieve an acceptable 90deg x to y transition, linear speed needs to be kept below 2000mm/min.
Any suggestions would be appreciated