Hello

I'm building a flatbed digital cutter and it's nearly done but I'm fighting with a servo problem in the last few weeks and unfortunately can't solve it yet.
This is a simple XY table driven by a Delta B2 drives and motors where Y is 0.4kW with belt pulley reduction 1:2 and X is 0.75kW direct drive.
The Mechanical table is belt driven with roller slides.

All looks and works very smoothly and tidy and I'm very happy with how the mechanical part is moving, but I can't solve the problem with the servos.
I'm using AC servos for the first time and they have hundreds of parameters that make my brain on the limit to explode :)
Better explanation of the problem is on the video I uploaded in Youtube: https://youtu.be/3Jf3KB56QS8
In low speed all the shapes of the objects are fine but in high speed they are messed up. Logically this could be some kind of acceleration wrong parameters in Delta drives. I have set all accelerations and S-curve to zero but no differences.
I've tuned the servos only in Auto-tuning and I'm afraid to change the parameters as in the last try both servos started shaking and my project was nearly disassembled :)
Any help and suggestions how to solve the problem are more than welcome.

Thank you

Angel