Training is easy. Put the run/test switch on "test" and run the gantry to the entrance end of the track until it stops. Put the switch in "run", hold in the "reset" button until the horn blows and release the button. The gantry should walk to the exit end and stop on it's own. The gantry is then trained. You gotta get the flashing codes the next time it fails. You're just shooting in the dark not knowing what the failure code is. Go into the "data menu", I think the last ten errors are stored there. I think you have more than one issue. The pre-soak stopping and the gantry running end-to-end sound like two different problems.