Configure AB MPL-B320 Servo

I need the parameters on an Allen-Bradley MPL-B320 servo motor carefully re-worked so I can squeeze more positional accuracy out of it when driving a rotational load. The drive is already in place and operating, but its present tuning leaves too much drift and overshoot for my application... (Budget: ₹1000 - ₹1500 INR, Jobs: Automation, Control Systems Engineering (PID / MPC), Mechatronics, Robotics, Technical Documentation)