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After installing Home switches, figuring out the travel limits, and trying different speeds & accelerations, it runs much better: Thank you very much! $$ $0 = 10 (step pulse, usec) $1 = 25 (step idle delay, msec) $2 = 0 (step port invert mask:00000000) $3 = 5 (dir port invert mask:00000101) $4 = 0 (step enable invert, bool) $5 = 0 (limit pins invert, bool) March 10, 2020 Engraving Machines Equipment. 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