On 15 Oct 2011, at 06:12, Tom Easterday <tom-...@bgp.nu> wrote:

>  When we run above 2000ipm we have significant following error and the motor 
> overshoots it's mark by a decent amount (say, an inch or so) and then comes 
> back.  

I would be looking at the position loop in the drive for that problem. As far 
as EMC2 is concerned it is driving an open-loop stepper system.  
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