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Called AMC and as always, talked to a great guy. Just wanted to post this summary so as to make it available to anyone looking for same. Pot 1, Loop Gain, is the one responsible for responsiveness of the motor to error in commanded parameter (speed in my case, as I run in velocity mode). To adjust it, turn it clockwise until the motor starts vibrating when commanded zero. Then back out 1-2 turns. Gunner pretty much said the same thing. Pot 3, Reference Gain, has nothing to do with stability of the servo system and represents only the proportion of how much speed you get for a given volts input. Fully clockwise it means 100% available speed. I will make some adjustments tonight based on that, so as to get a stable system operating at top performance. During tuning, I turned down Ref gain, for no good reason as it turns out. So my motors do not operate at top speed avaliable from the drive.