@Tom_L we talked about servos yesterday. ive managed to get it somewhat under control when setting an inertia value of 15000 (pr004) on my OMC T6 servos. i can now move it at least but its still slightly correcting when coming to a stop and is not rigid at all. Now, i should adjust my PR003 parameter but i cant lower it below 74 because the motor starts oscilating. got any idea?