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we send +/- 10V to the servomotor and the encoder singnal is comming back from Heidenhain ROD424.
The Heidenhain ROD424 is on the servomotor and from this comming the singnal to pc.
The Servo have nothing tachometer.
The +/-10V going to one Magnetventil and the magnetventil controls the hydraulicmotor.
The Axis drive Hydraulic and the hydraulicmotor have the encoder and this encode send the singnal to pc.

OK well on the basis of not understanding your hardware at all I would try this

start with a low P term (say 1) and increase it slowly till you get oscillation (vibration)
Then start adding D term until the vibrations cease (to much will cause vibrations to start again)

Can you provide a HALScope plot of the vibrations?

I think if the encoder have 250 pulses/rev and 1 rev is 5mm then INPUT_SCALE should be 50 not 250 (250 is equal to 1 rev or 5 mm, 50 is equal to 1/5 rev or 1 mm).
Also DEADBAND should be equal to 1, 1.5, 2 o 3 encoder counts (i mean 1/50, 1.5/50, 2/50 or 3/50 mm).

OK, Thanks.
I'm back on freday again.

Steffen

thanks, its working.

P=2
I=0
D=0

input scall = 50
velocity = 50

accurate description of the construction to the machine is comming later.

Steffen