Hi Peter,
Your PID looks like way too much I and not enough D.
I think the manual suggests as a starting point a ratio of 20:1 D to P. This means that if your P is 8000 your D should be 160,000/ I normally start with an I of 0 and then you can try slowly adding some in. I also run my amps in torque mode. IIRC velocity mode is better when running slow.
Mike