Thank you guys so much for all of the help so far. This is where I am at, we reinstalled all software, rewired the machine with optos, elimnated as many ground loops as possible (we had a lot of noise being introduced into the system). These changes stopped my recursive logic and motion problems, I can even home the machine with native galil commands which work nicely. BUT I still cannot change the state of outputs from my programs, I have also noticed that I cannot use galil commands or set variables from programs in camsoft but I can open diagnostics and change states manually or activate outputs by sending them directly to the motion card. Which tells me that my setup information for I/O must correct. My galil cammands only work from the diagnostics window. I also have logic in my inputio.fil that works fine turning outputs on and off upon input changes. This is the only problem I have currently, other than that the control runs great.