I think I am done working out of town and can get back to spending some time on this project. I have tuned the servo on the Z axis as far as I can using PID and dont know what to do next. The response right now is fair and the position stays on track with the command output that is given but I would like to speed it up. I have only used P and D. Anything over the current levels doesn't produce any better output from the servo. Being new to all this I really dont know what numbers to put in or what to use now to get the motor to respond better. Any dirrection on what to do next would be a great help.