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Getting back to this project.  Servo enables are working now, and started the drive tuning.  Was wondering if someone could take a look at the attached images and provide any recommendations.  Drives are moving smoothly with the tuning parameters, but wondering if there is further improvement to be made in the servo tuning.  I also have an issue where the torch enable signal is being sent all the time.  I have not fully debugged this yet in the wiring, but any suggestions on if there is a configuration issue that could cause this?  The LED on the SSR on the board does light up when the torch pulse is toggled to on.  

Without FF1/FF2 Tuning:
 

With FF1/FF2 Tuning:

I think its something like:

loadrt mux_generic config="ss2,ss2"

addf mux-gen.00 servo thread
addf mux-gen.01 servo thread

And the main created pins are:

mux-gen.00.sel-bit-00
mux-gen.00.in-s32-00
mux-gen.00.in-s32-00
mux-gen.00.out-s32

mux-gen.01.sel-bit-00
mux-gen.01.in-s32-00
mux-gen.01.in-s32-00
mux-gen.01.out-s32

The select pin for both would connect to the angle jog enable
so the two muxes select either the output of anglejog (when
anglejog is selected) or the raw MPG count (when anglejog is not
selected)  The outputs of the muxes go to the appropriate
joint jog count pins.