FWIW - I was having serious problems with losing steps. I tried everything including adding mechanical advantage to stepper motors, increasing microsteps, increasing pulse frequency, increasing pulse duration, bonding signal cables to floating ground, bonding motor cables to equipment ground at power supply. Nothing seemed to work until I decreased acceleration of stepper motors. Apparently the mass of my gantry was overpowering the steppers. I have my steppers accelerating at 10 in/s/s with top speed of 150 in/min. Question - My stepper motors whistle while idle and get hotter than a 2 dollar pistol when running. Is this normal or is there something that I need to do to correct this situation?