Roger,

I'm glad you found the issue! 

Also, unless you are running stepper motors, the loop is closed on your servo drive.  I used to really dislike the loop being closed on the servo drive because only Yaskawa seemed to do it right and not every project justified the cost of the Yaskawa drives/motors.  But now days, the other drive manufacturers have it pretty much figured out too.  And they actually do a decent job!  And it is soo much easier for the servo tuning challenged among us to work with the digital/position controlled servo drives.  As close to plug and play as you can get. 

Steve