Hi eng101,
Do you have any specific questions?
Can you tell us about your background and what parts you understand?
Have you read any of our on-line help or wiki articles?
The first step is usually to determine (or tell us) your axis resolution so we know what kind of speeds, errors, etc, we are talking about. See:
Dynomotion
Here are some general comments on what I see:
Jerk: you have very low Jerk relative to your allowed acceleration (if I can read the tiny numbers in your image). Dividing A/J = 4 seconds. Even in a large machine like a car it wouldn't makes sense to apply the brakes over a 4 second time span. For most machines less than 0.1 seconds it slow enough to avoid shock and disturbances.
Velocity: Your test only achieves about 1/4 of your allowed velocity even for the fairly large move size because of the limiting Jerk limits applies acceleration so gradually. See:
Dynomotion
The Velocity plot is not very useful to judge servo performance. Plot Position Error also. If you attach the raw data we can replot in all different ways ourselves and zoom in. A smaller and quicker move is usually better for judging performance.
Output Gain: Change back to 1.0 to be less confusing and to avoid outputting more than 2047 to the DACs and causing overflow. (then double P gain to have the same response)
Filters: you forgot to show us what filters are being used.
P Gain: have you tried higher gain?
Bode Plot. The stimulus is too low for your system. The Encoder (red plot) is only changing about +/- 2 counts so quantization error will be large and result in a poor measurement. Similarly the Output (green) is only about +/- 1 DAC count. Please read:
Dynomotion
HTH
Regards