Klingon,
danke für deine kompetenten und Hilfreichen Tips ...

zu EMC habe ich noch das gefunden
BACKLASH
= 0.000 Backlash in machine units. Backlash compensation value can be used to make up for small deficiencies in the hardware used to drive an axis. If backlash is added to an axis and you are using steppers the STEPGEN_MAXACCEL must be increased to 1.5 to 2 times the MAX_ACCELERATION for the axis.
Muss ich aber am Wochenende mal nach schauen...