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Sorry. The diagrams didn't post for some reason. If you want to see those, they're on https://www.axcontrol.com/blog/2019/09/ ... -tutorial/(which is where I copied everything after "this might help.") I should've said.
If you're going to set up a lower PID you need to follow an equation for a closed-loop response. I admit I don't know much about this, but I know that as the phase margin gets smaller your oscillation will get worse. This might help: In the Sept. 1990 issue of Motion Control, this block diagram of a...