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Sorry if this has been raised already (have only just seen this today and caught the end of the thread), but if the problem only happens when guiding is switched on, could the spikes be due to over-compensation by the backlash compensation algorithm?
If you switch backlash comp off, do the spikes disappear?
If it's too large, whenever dec changes direction you will get a spike - and then at seemingly random (not periodic) times.
Just my 0.5 cents.
Paul
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