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While your issue appears straightforward, I'm having difficulty grasping the logic control conditions. It would be nice if you hand draw the relevant parts of the system that might put things into prospective. And most importantly list the conditions for disabling the axis.
For example: if ((position < 900) && (position > 1600)) disable the axis (this a fictive example just for illustrations)

www.kollmorgen.com/sites/default/files/p...9032002701_A_5.1.pdf
The Page-86 in above DMC2 drive manual gives general resolver specification recomended by drive

www.wittenstein.de/download/operating-manual-tpm-plus-en.pdf
The Page-36 in this manual has resolver specification used by Wittenstein motor

It uses Tamakawa Brushless resolver
www.tamagawa-seiki.com/products/resolver...martsyn-builtin.html

This does not seem like a delay issue because at 10000 mm/m, a 4.5 mm error
represents about a 27 ms delay (54 servo thread invocations with a 2 KHz servo thread)


It looks like there is some kind of filter between the command and feedback,
it's not just delayed but seems to have bounded acceleration.  This  could
also be because the drive tuning.

It seems like it has poor position loop gain (large static error) but why is it oscillating?
Maybe too much velocity loop gain and not enough position loop gain?
 

I don't have any experience with EtherCAT, but I was just on another forum discussing the Marco Reps config and have the link in the clipboard.
forum.linuxcnc.org/ethercat/56545-step-b...shine-to-pi-5#331624
The "middle" attachment might contain useful tips. (though that is for Leadshine)

Yes, add your end stops etc to the hal file e.g.:

net X-home remora.input.00 => joint.0.home-sw-in
net Y-home remora.input.01 => joint.1.home-sw-in
net Y-home remora.input.02 => joint.2.home-sw-in

This links the remora input hal pins to other hal pins. It's the basis of any LinuxCNC configuration. You can build quite complex logic by linking hal pins from different components.

Hi...sorry for delay...much distracted here...I am going to follow up on all points..

I have it pretty close now...after I finish a couple things I want to go back and check because it seemed that when I used calibration...changed scale value..then tested by jog and measure...ok..save...then run program...consistently got a substantial difference than the jog test which was at the lame total distance..did same process again without testing by jog and much better..I know sounds voodoish but I will try to replicate later this week..

Thanks so much for your help!!

Rick