I have an issue with getting the 2020 drives to pass more than 1000pps of encoder counts through to the tuning software. The motors stabilize and tune well but if the move calls for anything over a very low velocity the counts almost stop and the motor goes in the same direction for a while until the error gets back to zero.. By hooking up just an encoder I have found that the rate drops off at about 1000 pps. An oscilloscope on the encoder connector on the drive shows a nice clean pair of quad signals but it doesn't make it to the software. Any comments or suggestions? The computer and all cables are the same as I use with Galil servos so I do not have any issues there, that I know of.