I do not have a clue how to tune my servos. I have been reading everything I 
can find on the subject but its like it is written in some alien language that 
I'll never understand.

What I have been doing so far is following this guide 
http://www.newport.com/servicesupport/Tutorials/default.aspx?id=152. 

I can't get it any better than this, HELP I don't know what to do next

Halscope images: https://sites.google.com/site/bmklawt/home/pid-tuning
Config files: https://sites.google.com/site/bmklawt/home/emc2

Your help is greatly appreciated,
Bruce

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