Newport ESP300 & MFA stage problem

I am having a problem with moving the stages from the home position.
I perform a 'Find Home Signal' operation, and all the axis home ok.
When I then try and perform an Asolute Move, I get a Hardware Limit
Error and the stage stops moving.  It seems to be random, as sometimes
everything is fine; after I home everything again I get the problem.
I`m pulling my hair out with this, what am i doing wrong...?
James
(Singapore)

I am controlling 2 Newport MFA-CC stages using a 3 axis Newport ESP-300 controller via PC using GPIB, these are under the control of a Labview program.
The stages have hardware limit switches and optical encoders (I think).  As I had mentioned I execute and OR4 command which the Newport manual states as 'Find Negative Limit Switch'; it zero`s the display and everything is OK.  The problem comes when I ask the controller to move the stage to an absolute positions using PA10 command (which should move the axis to 10.000).  After moving a distance of about 0.1mm raddomly stops and give an error "Hardware Limit Detected".
I have tried lots of methods, but as I need to home the stage to a mechanical point I seem to be stuck.

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