It looks like your servo is moving 4x as far as the Centroid control is expecting it to move.
Try changing Pn202 from 4 to 1.
401 Position Error Yaskawa
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Re: 401 Position Error Yaskawa
Well I'm extremely happy to say changing Pn202 from 4 to 1 seems to have fixed it! 
What was wrong makes some sense to me now but I wouldn't have been able to get this far without your help cncsnw. Was this a very unusual problem or do you think some pointers as to what was going wrong here could do with being in the install manual under Appendix A - motor behaving unexpectedly? Once again many thanks for all your help.
What was wrong makes some sense to me now but I wouldn't have been able to get this far without your help cncsnw. Was this a very unusual problem or do you think some pointers as to what was going wrong here could do with being in the install manual under Appendix A - motor behaving unexpectedly? Once again many thanks for all your help.