9512 Scan Engine Softmotion - Calculating Delay - Closed Loop

I am trying to follow the set-up guide here:

http://zone.ni.com/reference/en-XX/help/371093V-01/mclvhowto/howtoclosedloopstepper/

Scan Period is set to 10 ms currently.

When I command the axis is open loop mode with the feedback selected as NONE it works to get to position very nicely.  We need to run in closed loop though to know we are in the correct position.  When trying to tune per the above link, my Position Error never stabilizes, it just keeps going up and up.

Anything that might be causing that?  When we disable the axis and spin it one rev by hand it shows 1 rev in the position feedback - so the encoder counts/rev are correct.

9512 running an Applied Motion STR3 stepper drive, LabVIEW 2016, SoftMotion 2016