Jags resetting in CAN

In speed mode using the USD E4P-250-N-S-D-D-B encoder we are tripping the JAG reset when we switch from +max to -max or the opposite, using a joystick controller. This happens in any P value , we are not an I or D value. No matter how we tune the PID, we see a choppy transition from + to -. In % votage mode everything works fine.