help with servo tuning

I think I have everything worked out now. I had a couple problems.
I'm am using a virtual tach and my scaling wasn't quite right and the drives needed adjusted.
I found a manual for the fanuc drives and motors.
the spec for the tach signal was 3 volts per 1000 rpm
7 volt input to the drive is 2000 rpm output.

I created a hal file to test the servos.
I disconnected the servos from the screws.
I figured out my scaling for the virtual tach need to be ((max velocity /60) /desired output tach voltage))*10
in my case ((200 ipm /60) / 6.000 volts)) *10 so my fullscale max =5.555555556
this should give me 6 volts on my tach output at 2000 rpm
I ran the hal file and set the analog output to the drive to 7 which = 7 volts .
I checked the speed of the motor and it was 1035 rpm.
I adjusted rv4 tach compensation on the drive till I got 6.000 volts output to the tach input.
I rechecked the motor speed and it is now 1000rpm.
I repeated this for the other drive.
I set the output to the drive to 0 volts and checked for rotation.
I adjusted rv2 offset till the motor did not move in either direction.

once my scaling was right and the drives tuned I ran linuxcnc and tuned my pid loop again.

everything works much better now.