need help...got all axis running sweet...in xy and z...all run in harmony...however..when i use the a axis with x znd z it stutters...when the x gets to the end of travel and the a has to rotate..it steps in 2 or 3 motions and then continues..its not fluid...even when i set up to the centre and the machine moves to start position it travels in stages...I've tried slowing feeds etc down...but when i run at more than 3000mm/min it will lose steps at some point during the programme...can anyone shed any light on this.