hi Graham,
Mike is correct, make sure MFE is non zero. in the manual there is section about it.
for tunning, start with scale 1000 and P 100, MFE at 5000, low pass at 5. all others at zero. do test motions. if no motion observed, start increasing P until you see motion. If the actual motion is in the opposite direction of commanded, change the encoder polarity in the system tab. once you get a decent graph, (ie acutal folows commanded), start adding I and D and VFF terms to fine tune the graph, ie actual should be as close to commanded as possible. when you set I term > 0, make sure Max error I should also be non zero, otherwise you will get uncontrolled oscillations. eg start I with 10 and max_error_I as 50, and gradually increase. Do the test motions for small and large moves, ie few mm to 100 of mms.
As far as I know, velocity mode requires tacho feedback from motor to drive, while in torque mode, there is no such requirement. If speed feedback is already builtin in your motor/drive setup, you can try both modes and see which gives the best performance. I know some people are using torque mode with no problems, although they tell me that torque mode is more difficult to tune than velocity mode.
I hope to update the manual soon based on your feedback. did you get my email few days ago for slave axis setup?
regards,
Rufi