Hi, Now these are the values on the axis X_axis INPUT_SCALE = -4000 1.000 OUTPUT_SCALE = -4000 1.000 y_axis INPUT_SCALE = 4000 1.000 OUTPUT_SCALE = 4000 1.000 z_axis INPUT_SCALE = -4000 1.000 OUTPUT_SCALE = -4000 1.000 now as soon as i get out of the E-STOP, the z axis makes a sudden move 0.015 then a following error occurs. Regads Hassan