For the 3 mV error for the output, is this more more like a 3 mV offset of a 300 ppm error in the scale factor. A measurement at some 1 V or 0 V should give the answer to this.
I'm back at work for rest of the week now so not much time to investigate too deeply at the moment, but I did make a few measurements to help answer above. All measurements taken using calibrated Datron 1281 at 6.5digit resolution, and after zero calibration had been completed.
220mV Range0V = 0.2889v
2.2V Range1V = 0.9999v
2V = 1.9997v
11V Range3V = 2.9995v
4V = 3.9992v
5V = 4.9990v
6V = 5.9988v
7V = 6.9986v
8V = 7.9984v
9V = 8.9981v
10V = 9.9979v
So 0V output, even after zero cal shows some 0.2889v error. And then at 10V error is 0.0021v.
Among other things suggested, I'd also like to investigate the duty cycle circuit and do the math to see what output voltage should be. I'd be interested to see if duty cycle math works out at 10.0000v or 9.9979v. It would be interesting to see if DAC is setting the correct voltage, but somehow between DAC output and terminal posts it's going wrong. Or if DAC is setting the wrong voltage to start with.
If DAC is setting output to be 9.9979v (@10v) and same 9.9979v is measured at terminal posts, then not much wrong with DAC output. And problem may be with ADC side, and maybe reading it's own output incorrectly. .. It's a theory and something to investigate anyway.
Part of troubleshooting guide for the duty cycle says the following
"Check OUT1 from U6. Connect an oscilloscope to U6 pin 16 (common to TP1). Set
the 5700A to 6.5V dc, operate, and set the oscilloscope to 2V/div at 2 ms/div. The
oscilloscope should display a TTL-level square wave with
approximately a 50% duty
cycle.
"
I measured 48% duty cycle.... but no spec only approximate so I thought that's ok.... OUT1 is only for course adjustment, so maybe 48% is close enough to 50%. Then OUT2 is fine adjustment. Still, worth investigating and to see how the maths works out