Problem is solved (I hope )

Some people on some forums says the Intel can be problematic. But I think, since one motor works fine it is not true for me. I have tried DriverTest.exe and got lot of "piano keys". I change CPU, take AMD ant test again. DriverTest gave me flat line (well, not exactly flat, but there is no piano-like). Then I have tried motor but there is O-error still. But when I start to change UHU parameters system is more cooperative (unlike Intel) and I quickly found good parameters. Now it works fine.

CONCLUSION: Always check with DriverTest, piano-keys are very bad sign. And finally, AMD is the best !!!