text: <s>[INST] Kinetix 5500 842E Encoder Summary: Problem to cut a foam boardI have an application using a Kinetix 5500, a motor VPL-B1654B-C, and an encoder 842E-CM-S, We are usign the encoder like a master and Kinetix like slave to cut a foam board, the distance to cut is set on the panel view. The encoder is measuring the distance when it is done, we are using a MAG to move the motor (table) to follow the board, down two pneumatic clamps, after that start a motor to cut, when the cut is complete, up the clamps, and the motor returns whit a MAM instruction, I am making test with out load to high velocity and the machine works good, but when it works with foam board the encoder move looks good, but the motor (table) vibrates too much, can someone help me why it happens? The encoder has the higher resolution. [/INST] Have you performed an autotune for the K5500 axis? Or are you using default tuning parameters? If you've done an autotune, can you tell us which choices you made to perform the autotune? Did you set it up as rigid or compliant? Hard, medium or soft response? If you've done an autotune and think that you have a good setup, note that I've found Rockwell's autotune feature tends to tune the axis too hot which might explain the chatter your describe. You may have to manually decrease the tuning parameters to ease the chatter. \\n </s>