5 axis motor parameters

Hello everyone, 
I am building an CNC 5 axis and I load the my .ini and .hal file with an example .ngc file. I started the machine and stop it after that I tried to move axis A to previous position but axises moved different I mean it couldn't reach the right position , one axis move faster and passed the position. I think it is about the some motor parameters I dont know. If it is about parameters , how can I enter these parameters. For example;
Motor Harmonic Drive 4th Axis
Table Diameter: 150 mm
Center Height: 100mm
Center Bore: 30mm
Blacklash: 0
Absolute Tolerance: +-30
Max Torque Output: 50 NM
I have seen these parameter on motor.
My configuration file and .hal attached. 

Sounds like your step_scale is off or you are loosing steps. Have you tried running the gcode at a lower feed rate?

You mean it is about step scale or loosing steps. it is not about motor parameters right? Then I will try my works with this information

I wil try to explain it with more detail
I started the machine and move and started to handle the workpiece(actually is not there just for observation)
But axis maybe rotate too much I dont know, what ever, I stop the machine and I moved the axis A to starting position but problem started,
rotation and axis Y didnt move good. Didnt match . Y moved too fast as much as remember.

Ok I will do it when the machine 4. and 5. axises ready. Now 3 axies in usage after a few hours later I hope will be okay but until that time I will send the current machine picture and motor inside.

Machine Pictures atttached

Machine Pictures Attached

As you see, last motor includes 4th 5th axis is there for demo now. Machine is not ready for video yet. Also I can send the video later. .ini and .hal file attached.

You have not provided any information about the motor amplifiers, What type are they and are they the original drives that came with the rotary assembly?