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Danke für das Schema, jetzt bräuchte ich noch die Einträge in der Hal

Is there a way to indicated what G_Code line you were on after an E-Stop press in QTDragon? Just goes back to 1. 

That was the fix. Thanks

Hello Tommylight, your approach is very accurate. Starting from the values ​​you propose, I was able to make relatively smooth movements. I would only highlight the need to lower the D = 0.001-0.005 a little more, since the motor emits vibration with the proposed range of values. Regards and thanks.