Yes, endfloat for taper bearings should be zero, unlike plain bearings they should have either no or very small amount of preload.
For critical applications you raise the preload until a noticeable temperature rise is detected and back off a little.
For us mortals, run the bearings until at normal operating temperature, then adjust to just get rid of any float or shake. Run at operating speed for a decent time and make sure they don't overheat.
When greasing before assembly aim to fill about 25% of the space in the bearing, no more.
You may hear otherwise, especially advice suggesting higher preload, but this is a much condensed version of advice from at least two authoritative sources.
Neil
Edited By Neil Wyatt on 10/05/2015 17:09:09