Hi Sean,

Progress!

in CCW ramps up nicely to roughly 1200 then down to 900 and then stabilizes at 1000 +/- 20 rpm and ramps down to Zero when the off Button is pressed .
That would be a tuning issue. Maybe reduce P Gain or Acceleration.

CW just runs away as count is wrong direction
Try changing the gains appropriately in your CW and CCW programs. Add it just before the Jog to speed command.


chan[SPINDLEAXIS].InputGain0=0.02;
or
chan[SPINDLEAXIS].InputGain0=-0.02;


HTH