Hi,
well then you'll have to download the Clearpath manual, its freely available, and install the set-up and tuning software on a PC, and
at the very least interrogate the firmware to establish how its been programmed. It may well be that the HLFB output has never been programmed
and that would certainly explain part of your issue. You can also interrogate the servo with the PC and find out things like Following Error.
Your friend has no doubt paid a premium to get a machine with servos.....now is the time to dig into that capability.
Craig