I have a problem with my 400W and 750W (Delta motors) ASDA B2 servos with the holding torque. They are both auto-tunned by AsdaSoft and all works smooth.
On my plotter project they must drive a belt driven axes XY but for some reason when they are in holding position, are not enough strong. Just a little manual pressure on the axis, and they moves about 10mm in both directions like a spring. I can see how the motor shaft moving.
This is not mechanical issue from the belts. I’m very beginner with servos and I don’t know is it normal or not, but seems not good.
I tried to change Bandwidth and Ratio of inertia and have had some luck. The system is strong enough but very unstable. Shaking, sounds bad like ultrasonic.