Hi Tantan,
I have noticed the same problems with IP-A. Latest version I could still get to work is 4780. While else works, as soon as I invoke any motion inside of a macro, it throws out PID error. I wrote to CSMIO about it, and they said there is a missmatch between mach4 and csmio possitions, and that mach4 is to blame for it. Other controllers like smoothstepper and pokeys work without a problem.