There are 3 servo tuning parameters that affect FS performance:
Profiler (gain)
For DV05 tried 0.36 to 0.50 with no improvement.
Ultimately set 0.38
FS factor set to 15 (from 14) for DV05 (range is 13 to 17)
(something else) set to 2.3 (from 2.2) on DV05 (range 1.9 to 2.5)
One can also increase torque bias to gain improvement.
According to Vertex the ABB (original) motors were better at FS than the Moog (current) motors.
-- JeffMangum - 2011-10-26