I've have an issue with the command speed being more than the actual speed. I checked the actual speed with a tachometer and it matches. I installed a new encoder on both the spindle and the motor and followed all of the parameter changes that are required. It seems that for every 1000rpm commanded the actual speed if 15rpm lower. 1000CMD-985ACT, 2000CMD-970ACT, etc. Any help would be greatly appreciated.