Dc servo motor control

That has helped, I no longer get the error at the end of cuts. The machine was used to do some cutting yesterday and preformed well, the THCad THC working very well, the only problem I have now is that if I E-stop the machine I get a following error. To re enable the machine I have to close and reopen linuxcnc. The gantry does move slightly when servos are disabled, so I think at rest the machine is very slightly out of square (I squared machine using dual proximity switches, using a 3000mmx3000mm square and adjusting the offsets until the Diagonal measurements were the same). I may need to loosen the gantry top beam bolts when the machine is squared to remove any tension when in operation, even for good practice, however this still will not fix my problem if the gantry somehow gets moved when servos are not enabled.

I did see a post where the time delay function was used for a different job, perhaps this would be able to be used. I should say I am using the x enable signal to enable all axis on my machine, I tried the "machine is enabled"  output in PNCconf and it did not work.

you are not getting an error finishing read with your following error?
So it is from encoder movement?

Rod, there is no read error, just a following error, yes i think it is from encoder movement after drive has been disabled. The error actually doesnt appear until I hit the "power" button in linuxcnc after resetting the e-stop, i sent you a video of it there on fb.

I'm not very experienced with servos and encoders.
But one possibility is that when the motors are disabled, the gantry springs back into position enough to cause movement sensed by the encoders without a corresponding  position command. If this movement exceeds your following error settings in your ini file, it would cause that.

Perhaps you could measure the movement on each side by using a dial indicator set up before you hit estop. Then you could adjust the HOME_OFFSETs so the gantry was in a relaxed state to see if the error goes away which would confirm the theory.

I think you could also  monitor these pins in halshow when going through an estop cycle which might be easier
joint.N.motor-pos-cmd OUT FLOAT - The commanded position for this joint.
joint.N.motor-pos-fb IN FLOAT - The actual position for this joint. 

We are still talking about the Esab right?
If the machine is working properly and the error appears only on disable/enable or e-stop/enable, the rails are not set properly, they are big and heavy and very hard to bolt down precisely to the ground.
Measure the rails diagonally and see what the error sums up to, use the screws on the rail-to-foot part to adjust as much as you can. While at it, check if they are parallel.
Just in case, by diagonally i mean from the start of one rail to the end of the other rail.
While setting up the rails, you can unhinge the right side servo motor from the rack so the gantry is free to move and check if maybe, just maybe, the gantry is racked/bent .