Thanks Brian,yes what happens with the code you posted is,I start my rotary table at 0 degrees,running the program it quite quickly is off by what looks like precisely 5 degrees (when I hit 180 on the DRO ,my rotary is at 175,when I go negative ,the DRO reads 0 and my rotary reads 355,back past the '0' on the rotary).Am I missing pulses? Keep in mind, when I say for instance, GO1 A15(starting my rotary at 0) it does indeed go to15 degrees.So if pulses are missed it's only in 'incrememtal positioning'.-Thanks,Keith