It's not as simple as a software solution, but it will keep me from even having to think about discarding stepper motors with zero-backlash harmonic drives attached, especially this motor with a 370 Kg/Cm torque rated harmonic drive, which seems like it really wants to be part of a small homebuilt 5 axis machine, once I add a coupler/bearing assembly.
Programming stuff like this is trivial on an Arduino, but I may not be using one for a controller to control the drivers that drive the motors.
This is my first contact with TTL.