Nobody ever hears mine either. It doesn't really matter if I understand what you intend to do. It only matters if I understand your question(s). So assuming I have the joystick operation correct, I can try and help you with the structure. Its no matter about mach. You asked for help with the actual driving of the step part. I, as I always do, went off making assumptions about your application. Sorry bout that. Seems after 20 years of helping customers in a small job shop machine shop, I now try to get at what they want to do, just in case there is more to the question then they realize. I will call it a job hazzard.