Thanks Hood I seem to have it working, I made your changes and a few other that I don't quite remember but it seem to be working now.
I have another question for you if you don't mind. I thought that servos were a lot more powerful then stepper motors, I am currently test the servo on my rotary axis on my router, I have it tuned as per Gecko, but as the rotary in turning I can grab it and make it stop. It seems no more powerful then my stepper motor. The servo that I am using is from Keling KL34-180-90 Nema 34 and a Gecko 320X driver.
Was I wrong in my thinking or is there something that I can do to get more torque from the servo?
Thanks,
Tom