I have a similar problem, Xerxes suggested I use velocity mode as I have been having issues running my motion master, fanuc 110v ac servos 3 vsd xe drive s galil board, cam soft soft ware. cam soft says my problem is tuning, when I try and tune velocity the axis I am tuning drifts off to the end of travel , hard stop. how do you tune if the axis is at the end of travel?

I originally ran this machine with mach3 and a smooth stepper, it did quite well when I ran it with their experimental tempest planner, but would bog down too much in small segment code.