Gentlemen, The motion is adjustable by parameter. Whew. I think it was adjusting before I was just not moving the axis to the correct position. I have the machine adjusted to < .005 tir during A and B axis motion. The problem is see is the joint and axis numbers do not match. When I have .01 in my aaxisY parameter then the Y axis position is .01 different than the 'Y' joint position. To get the indicator to read zero I must move the Y axis to .01. If I move the axis to Y0 the indicator is not on zero. The indicator shows out of position by .01 on the Y axis. I am still working with this but it doesn't seem correct at this time. I think I will have to implement the correction at a level prior to the kinematics (if that is possible). More to come. Having some fun now. thanks Stuart
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