Stepper Motor Harmonics Question

I had a harmonic issue with my CNC router. I just changed the travel speed a little and it got a little better. Recently the old control board died. Old board was obsolete, so I replaced with the latest version. Harmonics problem went away. The steppers overall run much quieter than they ever did with the old control board.

My control hardware is not top of the line but very good; PMDX-126 BoB, ESS, and PMDX-107 spindle control board. The motors, drivers and power supplies are of Asian origin so I can't speak to their quality although they have been very reliable for the past 4 years. The feedrate absolutely has an effect on harmonics. Anything over 15 IPM is very quiet. All you hear is the hum of the motors.
 
If you can afford it, reducing the current reduces the sharpness of the pulse and that can help some.
 
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