Yes, this may sound a little 'weird', but has someone tried putting shaft
encoders on stepper motors, to try to determine if steps are being lost?

If so, I would guess that it would be a SMS (euphemism for a lot of work - 
Small Matter of Software) to generate 'catch-up' steps somewhere in the
process.
Either in EMC or in a 'intervening' hardware interface.

Just a wild thought, but I am sure someone else has thought of it before.


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