I don't have a scope attached, but I am using teh servo config software that came with eth dugongs.  Like I am saying, it can barely be over shooting if  my maximum occured error is 5 encoder counts.  Wish I could tune with a linear encoder.  I have yet to remount all my components in teh cabinet to separate 130 VDC signals from control signals.  I also have to ground my input /signal cables and have my servos reconditioned.  Then I will retune and see what I get.