Sometimes when the machine start the axis commutation this error apear ?150 BZC=3<1000
Please, someone can help me
I am using linear motor with linear encoders, here is a part of the code (sometime also the motor start the movement in the opposite direction)

'DMC-4133-3540-BOX
'SRS H-Gantry (MX)
''**************************************
'**************************************
'BM CALCULATION
'
'motor electrical cycle is 60.96mm
'encoder resolution is 1 micron
'
'encoder counts per electrical cycle is
'60.96 * 1000 = 60960
'**************************************
'**************************************
#AUTO
DH 0
IA 169,254,78,101
DA *,*[0];
SB 1
AQ1,4;
NP=169;
ND=3;
ref=0;
o=0;
w=0;
rr=0;
fm=0;
set=0.0001;
wait1=50;
wait2=50;
I=0
II=0
DM xp[NP];
DM yp[NP];
DM zp[NP];
DM mt[NP];
DM xd[ND];
DM yd[ND];
DM zd[ND];
DM ac[NP];
DM sp[NP];
DM ML[100];
DM MAX[100];
DM MAY[100];
#ini1
mt[I]=0;
xp[I]=0;
yp[I]=0;
zp[I]=0;
ac[I]=4000000;
sp[I]=4000000;
I=I+1;
JP#ini1, I < NP
I=0
#ini2
xd[I]=0;
yd[I]=0;
zd[I]=0;
I=I+1;
JP#ini2, I < ND
'
I=0
#ini3
ML[I]=0;
MAX[I]=0;
MAY[I]=0;
I=I+1;
JP#ini3, I < 100
'
JS#INIT
JS#COMM_A
JS#COMM_B
JS#COMM_C
JS#HOME_A
JS#HOME_C
JS#REF_PNT
'
#MAIN
w=@IN[1];
JS#S1_EST
JS#B1_EST
JS#B2_EST
JP#MAIN
EN
#LOOP_M
o=1;
SB 1
AI -5
WT 500
JS#MOVE_O
o=0;
EN
#LOOP_C
o=1;
CB 2;
SB 1;
AI -5;
WT 500;
JS#MOVE_C
o=0;
EN
#INIT
KD 125,125,125
KP 70,70,70
KI 1.5,1.5,1.5
ER 1000,1000,1000
OE 1,1,1
MT 1,1,1
CE 2,2,2
EN
'**************************************
'
#COMM_A
AUA=2
AGA=1
TLA=5.0
TKA=9.9
BAA
BMA=60960
BZA=3<1000
WT 3000
SHA
WT 1000
MOA
MG"A-AXIS COMMUTATION DONE"
EN
'**************************************
'
#COMM_B
AUB=2
AGB=1
TLB=5.0
TKB=9.9
BAB
BMB=60960
BZB=3<1000
WT 3000
SHB
WT 1000
MOB
MG"B-AXIS COMMUTATION DONE"
EN
'**************************************
'
#COMM_C
AUC=2
AGC=1
TLC=5.0
TKC=9.9
BAC
BMC=60960
BZC=3<1000
WT 3000
SHC
WT 1000
MOC
MG"C-AXIS COMMUTATION DONE"
EN
'**************************************
'**************************************