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I got it running at 3000rpm and the output is 60 rpm but the ramp speed needed to be that high to not to resonate, its going to resonate at about 1300 rpm and is then over at about 1500 rpm. But i need to look again to solve the problem. Also if i do a slow start the resonation is there also with the harmonic drive. The ticks afterwarts are some steps backward, not something i want but thats programming and need to rewrite everything!
Something i could do is ignore that complete range where it resonates. Otherwise i need to work at a bit slower speed.
Hmm getting there i think 