Alex7, yes its a ZA (Sm200-20C). I didn't measure CW-car balance yet. If the parametres do not solve I'll do it. Installations are 3 years old. I replaced guide shoes. because older type was bad. now it is more
comfortable at 1,30 ms speed. After setting nominal speed this issue comes out.

Liftronic, when I set SPD_KP and SPD_TI, they effect starting of travel. For example motor makes noise if I increase SPD_KP. But car keeps on vertical oscillation on both direction.