I got it working and it works good.
Here is a video running a servo with a pulley on it running with a AMC drive.
(excuse my voice, i sound like Stewie from Family guy, lol , it was late and i was excited)
I'm cycling the motor with the Exercise mode withing the drive.
The KP was set to 1000 with KP set to 300. You can see when i change the KD to 400, it gets unstable until i change it back to 1000
I have more to finish before releasing the drive, but i have a cnc router to finish and ship in the next week, so it won't be long after that to send them out.
Larry