Jason,

If you do not have an encoder on that motor, what type of feedback is there for that axis? Feedback is required for closed loop control.

It just has a forward limit switch and a reverse Limit switch..

Thanks
Jason

Really all you are going to be able to do is move to the limit switches.

Set the PID's to 0 (KP, KD and KI) for that axis, and use the OF command to move in the forward or reverse direction. Positive OF will move one way, negative will move the other. Start with small values of OF.

If you don't already have it done, you will need to wire the limit switches to the limit switch inputs on the controller, you can use the #LIMSWI automatic subroutine to turn off the axis once it hits a limit switch.

See #LIMSWI, OF, SH, MO, _LFn and _LRn in the command reference.
http://www.galilmc.com/literature/manuals.html

Thank you.

Jason