[QUOTE=JAZZCNC;72299]It's more to do with the Controller issuing the step pulse on the rising edge and the drive set to process it on the falling edge there becomes a timing issue so when a direction change occurs the step is in front of the Dir and a step or MS is lost on each change of direction.

Just a thank you for this, I changed the settings in ports and pins and no more missing steps, round circles and pockets that are clean, I am hugely grateful