Tuning Yaskawa cacr be20ge drives

Hello. I have a Tree Cnc machine that uses the Yaskawa ac drive above, actually 3 of them. I have all the parameters to the setting the techs at ZPS advised and all three axis growl and vibrate on acceleration and deceleration at rapid travel speed, 800 ipm or 2000 motor rpm.
I have tried changing the gains, to remove the noise, the axis are so loose the mill a finish that looks like courdoroy pants from the 1970s. Adjusting the soft start times didn’t seem to help either.
I can’t help but think the vibration is hammering my machine. I tried talking with Yaskawa, which was a waste of time.
Any suggestions ? I can make a short video. I’m not inexperienced with servo systems, I’m not used to these digital Yaskawa dogs and have almost no experience with the Dynapath control on the machine.
 
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