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It's a tool to record positions to a file for later use.

JT

Well, I will need to orientate it for the changer. I was thinking that I can just run it velocity mode and use the encoder to orientate it. I did see something about a homing feature. However I will need to double check that.

HOME_SEARCH_VEL = -0.083333

That's 0.083 inches per second or ~ 5 Inches Per Minute (IPM)
= Really slow

the MAX_ACCELERATION and MAX_VELOCITY is different on my machine right now. (this is before experimenting)

What you are seeing is probably a limit to the speed with which steps can be generated. Once the system hits the maximum step-rate the system will realise that the machine is out of position and trigger a following-error.

What is your step length and step space? Add them together, and divide into one second. That's the maximum number of steps per second that the system can generate. You are probably hitting either this limit, or the limit of the base-thread speed, as the system can generate at most one step per base period. (If you don't see a "reset" function in your HAL then it is one step every two base thread cycles.

If the driver can handle it you can try reducing step length, or the base thread period. But you might find that the only answer is to change the microstep ratio.