Indirtwetrust, i have tried to check screen #3 in Motion info but I don't know how accurate it is. The tool is very slow to process the info. i took a picture of the tool but for some reason I can't attach it. I had Vcmd 47, Vfb 44 & Venc 8. I don't recall checking those params, I will do so. I could not find any info on any adjustment to the MSU board or any of it's pots so no to the velocity command adjustment. Do you the the procedure? Can I get a copy? We do have the correct PPR for the gov. encoder. I will check I DRV VEL and lower it. Thanks much.