Originally Posted by HuFlungDung  but I did find a lot of variance in the response time of the card to using high speed latches and I don't know what else.
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Did you use through the Camsoft software or download into Galil memory and run direct?
This is a portion of the preliminary code I tested with gradual engagement.
X = 'Saddle' servo slave Z = spindle, master open loop
#GEAR
GAZ
#ENAGE
TORQUE=0
TLX=TORQUE
FIZ
AMZ
GRX=.25
#LOOP
TORQUE=TORQUE+0.1
TLX=TORQUE
WT5
JP #LOOP,TORQUE<9.9
MF1000000
GRX=0
PA0
BGX
AMX
JP#ENGAGE
EN
Al.