Attached is the settings file. This is what is used to create the graph I posted. It doesn't cause any errors / faults. And if the drive doesn't get disabled and re-enabled, it will run in the opposite direction (as can be seen in the plot), but will not run in the forward direction after that drop in velocity occurs. If the drive is disabled and re-enabled, it will then run in that forward (problematic) direction. Thanks for all the help.