Igor,

check tacho feedback with a real scope
no amplifier connected
turn slow and steady ( big wheel helps , may need DC supply to release
any brake )
look for mechanical influences like brushes, armature slots, bearings,
connections

then
attach amplifier and observe with NO motion
when no motion you have your quietest signal, this is your base tacho
signal, it wont get any better than this

if you look with scope at tacho feedback before the above simle tests,
you will see a sum of many smaller items.

regards
tomp

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