so it Looks like you are running your spindle Controller in positionig mode (step/dir), and Dave is running it in Speed follower
(analog Output). In your case the "real" spindle orientation is done by the spindle Controller and CSMIO is only "supervising"
the result.
on a Speed follower the positioning is done by CSMIO witch is very hard (maybe impossible) to tune.
i spend days to try to set it up, and ended up to do the positioning on the spindle Controller itself,
witch is handled by digital I/O.