Ignoramus25139 wrote:

I think that there is a little potentiometer on the amps to limit
torque (current), I should try to adjust this so that no more than,
say, 500 lbs is delivered to any axis. I will look into this.

But, this limits your acceleration, so you get rounded corners. If you
set the acceleration
in EMC higher than the amps permit, then you get following errors.

Jon