text: <s>[INST] Ultra 3000i Tuning Issue Summary: Servo positions correctly has high pitch whine while holding position.I have an MPL-A430H-M servo on an Ultra 3000i Sercos Drive. Motor functions and positions great and has no instability and accurate positioning. In between cycling as it is holding it's position it has a high pitch whine. I have tried to tune this out by tweaking the gains through RS Logix in the Drive parameters. Despite attempting several manual adjustments to both Proportional and Integral Gains the whine persists with no apparent affect. Any suggestions on correcting this issue? [/INST] nan \\n </s>