I'm experimenting with a VSD-E drive running 2 PMDC servo motors. What does the drive do after a following error and an enable cycle?

I'm doing the following:
1) Send a bunch of step pulses
- during this, motion is stopped, say by mechanical end of travel.
This sets LED status number 5 - following error.
2) Drive enable line low.
3) Drive enable line high.
- now drive appears to resume move at an arbitrary step rate with LED status number 3 - recovering from ...

If motion was stopped by end of travel, recovery isn't possible because it will just run into end of travel again. The drive also seems to watch the encoders while disabled. If I manually move the axis away from the end of travel, when the drive is re-enabled, it goes right back to (and past) that end.

Power cycling the drive logic supply clears the fault and the remembered step count. Is that the only means of clearing the following error? Is there a way to clear any internally stored step count?

Thanks for info,
Pete