HI there....
I don't know what to say about you ethernet connection...bad cable, noise, bad nic or router? lots of things to try....(can you try with a diff router, puter, or crossover cable?
I think that Galil tells you to use torque mode for standard analog servo amps (+ - 10v input)
I highly reccomend galil's wdsk software for tuning servo's etc...it's got a page that has a list of all the parameters like motor disable etc etc etc...much easier than typing in commands in the smartterm it's $200 or so, but it was worth it for me..
there is a command reference that you can download at the galil sight that tells all the comands...your drives might be disabling because you have the polarity set wrong between the motor and the encoder, ...and the stop on error is set....lots of things to try...again!!!
the best of luck, hope you have a bad cable, or router, or something, and not your galil....what machine are you controlling?