Greetings:
I have a problem when tuning my Granite Device VSD-E drive to take an analog input when in velocity mode. Here is what is happening:
1. I tried using Torque mode with Analog input, but I was unable to tune my Dynomotion Kflop controller card in Torque mode. I contacted Dynomotion and they recommended me using velocity mode as it is much easier to tune.

Quote from Dynomotion:
Torque mode is a more complex type of servo to tune as compared to velocity mode. With simple proportional (P) gain a velocity amp system will be stable. Proportional gain means the command to the amplifier is proportional to the error. So as the target is approached it will command slower and slower velocity and therfore slow to a stop. With a torque amp and only proportional gain the system will continue to accelerate faster until it reaches the target which will result in severe overshoot. So with a torque servo some type of damping (D Gain) is required to have a stable system.

2. If I force the drive to use SPI, the motor/drive goes quiet when in velocity mode.
3. As soon as I switch to Analog In, the dithering starts and it's loud. Not only that, but the axis slowly creeps at maybe .5"/min.
4. If I unplug the CMD connector from the VSD-E drive the motor still dithers and the axis still creeps.
5. I tried plugging the motor directly into the drive (no cable for interference), and still the problem persists.

System Config:
1. Windos 7 64 bit
2. Dynomotion Kflop + Kanalog Drive
3. 48V 5.9A continuous brushless AC servos
4. 3 VSD-E Granite Device servo drives
4. WT ZX45 mill
5. 4:1 belt drive on X and Z, 2:1 belt drive on Y.
6. Optical home switches and mechanical limit switches.

I'm thinking that maybe the voltage on the analog input is floating or something, but I'm not an electrical or controls engineer, and don't know how to fix the problem. I belive that I'm so close to having a running CNC mill, but I can't tune everything to work in conjunction with eachother. Can anyone help me?
Thank you.
Dave