(1)Do you use external power or internal batteries?check batteries for charge.
You will get poor results with low batteries.
(2) go through your settings and see if they are all correct.
Check that the encoder values are correct Ie 10000 tick or 8192 which ever is relevant to your encoders.
Have you done the 360deg test?
Use Auto adjust on when doing Fix Alt Ref.
I am sure Gary will come in on this , but these are a few things to go on with.
Good luck
