@dc42
Thank you for your reply and an insight into the latest firmware. The good news is that the firmware has not caused any obvious issues (we are always very wary / cautious)
However the dwell timing issue is still present. I have been through the three points you listed and it has not cured the issue.
The most significant "controlling" factor seems to be the direction called in the M569 call. after dwell the motor with S1 starts earlier than the motor with S0.
M569 P31.0 S1 ; Y (first Y)
M569 P32.0 S0 ; Y (second Y)
The Clearpath servos give us the option to reverse motor direction in the firmware of the servo (we can then run both Y M569 lines as S1 or S0 - that gets round the issue on an operational level but does require a service engineer to configure a motor dependent on if its on the left or right side of the gantry. We would prefer not to do that (it increases the risk of an error during replacement of a servo - should it be needed. It seems much simpler to take a stock motor and simply fit it rather than having to use left hand or right hand direction motors)
We are fairly certain that the issue is Firmware related rather than a fault on the 1XD boards.
How is the dwell period controlled for timing from the hardware?