thanks for the swift reply,i was having a senior moment when i asked the question,everthing is set in mms,have checked my settings and have x 1000.67 steps,vel is at559.98 mm,acc 30,step pulse at0,y is at 1053.35 steps,vel at 349.98, acc 28 step pulse at 0,i have run the beds to their max travel and only have stalling when i put resistance on the hand wheels,however when i run a programe stalls happen between moves,result is lost positioning,so code cuts in wrong places,im useing 4nm motors on direct drive to all axis;s,am still running 2mm pitch lead screws?will change to ball screws when this fault is sorted,the electronics was bought as a kit from cnc4you .home made motor mounts and bearing blocks,will try to post pics when i find how to do it,many regards richard.