My mill was lacking something very important: the drives would remain powered, and drifting due to test/offset, when EMC2 was not commanding any motion.
Just to clarify: if EMC is holding position, then the drives are held in position by EMC. But if EMC is not holding position, for example because it stopped due to following error, then the drives would start drifting.
It happened a couple of times already that I would forget about EMC left without controlling position, and the mill would drift next day to some unacceptable position and trip the limit.
I finally added an extra instruction to "inhibit" the drives when the axes were not position controlled. Now, if EMC is stopped due to following error, or I turned the motion off, the drives are inhibited and would not do anything.
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