Servo Tuning - any experts here ?

[m_c]

Lots of experimenting!

There is some science behind it, but ultimately it's mostly trial and error.
Increase P until things become unstable, knock it back a bit, increase D until it becomes unstable, reduce it quite a bit, repeat. Add a little bit I, then tweak P&D.
FF can then be applied if needed to help reduce following error even more, however it's not always the best solution, and you should try to get tuning the best you can before applying FF.
You should also try testing the tuning under load, as dumping a big weight on the bed will make a noticeable to performance.

However, that's what I've learnt using Dynomotion, and they give you various test/plot/parameter screens for testing purposes, so you can see exactly how things are working. You're also able to apply various filters to remove oscillations at certain speeds/frequencies, which I don't think you can do with CS-Labs.