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.