Harry, I did think about backlash but decided that if you only travelled in one direction which is the usual case there was nothing to worry about compensating for. So just thinking out loud, Backlash only becomes an issue when you change direction. I think you'd have a variable that said how many steps or degrees of backlash. You should be able to include this in the global setup structure and modify the setup input screen so you could edit it. Then just mantain a global flag that said direction had changed and reset it after the first movement. That way if the flag was set, you'd just add the backlash compensation to the number of steps to move (and rest the flag at the end). I think it would be pretty simple to incorporate.