If torch is crashing into the metal then raise your Set Voltage. The reason you leave Sample Voltage on is so that it will automatically adjust your Set Voltage. The torch to work distance depicts the Current Voltage, if you raise the distance the torch is from the material then this raises the voltage that it is currently reading when cutting the material. Vice versa Set Voltage adjusts the torch height to maintain the Current Voltage, when the torch gets closer to the material the Current Voltage drops and the VMD software raises the torch so that Current Voltage will match Set Voltage. If Set Voltage is not adjusted properly based on cutting speed Amperage and material thickness then the torch could either crash into the material or raise to far off the material.
With Sample Voltage on, we sample the Current Voltage after during the delay that the height control is locked out, after delay has expired (Distance to Corner under Machine Settings) we capture the voltage it was reading at that time and whatever distance the torch is off the material the torch will maintain that distance.