For my 7 year old daughter, handwriting has always been a struggle. Even HWT has not been tearless around here. At age 5, she would get herself so worked up over the handwriting if she couldn't do it perfectly, that no matter what I said, it all resorted in a breakdown. Her fine motor skills just could not keep up with her brain and it was too frustrating for her. We backed off of it. We would do work on the dry erase board as this was not as daunting to her. She is now 7 and she does know how to form all of her letters and is now able to put them together but she still tenses up if I break out a "handwriting" book. We also did some copywork in the form of her own journal. I would give her a topic and ask for basically one thought that she wanted to say about that topic. Then, I would write it down for her and she could copy it. This seemed to also remove some of the stress for her.
Hope something there helps. Good luck.