Peter, I agree with Pat's statements.
If you've got the the hand controller (and a recent gemini version), there's a menu option under mount, I think, that gives some information about the balance and what the motors are doing. Here's the website info:
http://www.gemini-2.com/hc-English/En-balance.php
I've only recently started looking at this and have been thinking about what tuning options might be possible given the feedback it provides.