Could you some help on this, I found this little quirk while setting up the 
X-axis velocity and acceleration settings. Before the settings were right the 
X-axis was taking quit some distance to come to rest after a jog, or 
overshooting the home switch when homing.
I have only been dealing with the X-axis so far.

Only while homing, and only after the home switch has been pressed,
 and before the sequence if finished I can press the limit switch 
and the machine would slowly come to a stop, when it finally does stop it gives 
the 
error "Home switch inactive before start of latch move"
I am afraid if I have a runaway while homing I am guaranteed to crash

I have the limit switches set up to turn of the servos when tripped.

All my config file can be found here:
https://sites.google.com/site/bmklawt/home/emc2

Regrds,
Bruce
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