@dc42
It was an issue a long time ago, but was fixed with an unknown firmware update. Some path movements were extremely odd with older versions, things like disregarding motor speed in order to maintain head speed at all costs. Or arm movement take the longest way around the machine in order to reach a position.
The major movement problems were corrected in update 2.03RC1, but not all of them. Also, this update did not obey minimum travel distance correctly, M208 S1, and did not always take the most efficient paths.
With update 2.04RC1, it seemed like everything was fixed for us and things went great. All pathing was taking the most efficient routes (better than before), all limits were being followed, and no machine crashing. But it must have slipped under us, as when we started to print more complex g-code files we would get that Error: G0/G1: target position not reachable from current position. We do not receive this error on version 2.03RC1, and the print runs fine.
Currently we are running on 2.03RC1, but as I mentioned some safety feature are not working and it is easier to crash the machine into itself.
We want the minimum limit M208 S1 to be obeyed as well as have the best pathing. If you would like I can go through the updates to see what problems occur on them and provide documentation/files with videos of how the machine is operating.