It would actually under travel with the settings you had. For example you tell Mach to move it 1 inch then Mach would send out 15,000 pulses (as thats what you had set in motor tuning) but to actually move 1 inch you would need 20,000 pulses so the axis would only move (1/20,000) x 15,000 = 0.75 inch
I am not sure but I think the Dugongs have electronic gearing in them, maybe you have that set to something other than 1:1?
Hood