Closed Loop Spindle +/-10Volts

I used pncconf to set up the spindle.  Encoder counts correctly when I turn the spindle by hand. 
I have a 7i76, 7i77 and 7i73. I'm using the 7i76 for spindle control. The motor is a 3000 rpm DC
motor with 2 pulley arrangements for 0-1800 rpm  and  0-4800 rpm. The spindle amplifier takes
a +/-10 volt signal which is from the 7i76.  When I attempt to jog the spindle it runs the motor up
to about 2000+ rpms and hunts up and down in rpms.  I attached my ini file and hal file. I tried to
adjust many things but to no avail.I tried the pncconf tuner for the spindle but it ran it at high rpm
as soon as I clicked "Amp Enable".  It did work in open loop mode before I installed the encoder.
The spindle drive has both a torque and rpm mode.  I tried both.

Thanks,
Mike  

Off the cuff, it sounds like a PID loop tuning problem.

The 7I76 analog output is 0 to 10V plus a direction signal not +-10V

I'm sorry.  My mistake.  The drive provides 18 VDC which is fed to the 7i76 TB4 spindle- and spindle+
0V is full speed CCW
9V is stopped  (bias is off a little)
18V is full speed CW.