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You have a poor ground on the signal side of the driver. Shielding the power side is not necessary, just don't run signal cables beside power (or motor) cables. Ground all signal cable shields from...

The "optional block skip" can cause this. It has to rebuild when it skips a block.

It might be a little late by now but I think (I read some of your old posts) I may have the same machine so I can probably pull parameters for you (plus I have the original parameter lists). Like...