My motors are tuned and everything is running properly, but I am wondering if there is a softstart when running code and the gantry changes direction wher it will slow before it changes, and speeds up in the opposite direction. Hope that makes sense... Is there some sort of setting that I can do that?

Thanks!

Normally, you can go to the menu:

Config, Motor tuning, select the axis you want to add acceleration, and by moving the slider or enter a value, you can have acceleration to you axis,

Don't forget to select the axis first and click on the SAVE AXIS SETTING button before leaving or selecting another axis.

Hope that this is what you want to do

Jeff