Hello, I have finally completed my build and gotten the first print However as I try to get the actual toolchanging going I am hitting a problem with the C Axis (the locking mechanism). Homing seems to work well for all axis, but this is the behavior I am encountering on the C Axis: - Homing works, but seems to take longer than expected: when going to 0, the C axis stays about 6-7 seconds at 0, before returning to the 123 position (horizontal). - The 123 position does not correspond to horizontal: that would be 130. - The first locking of a tool works (toolhead aligns and grabs the tool, with C Axis turning to 33 and locking the head). - Upon returning the tool I often see that when unlocking, the C axis 123 position has slightly shifted (it is then more aligned to horizontal) - When grabbing another tool, I very often have that after aligning and grabbing the tool, the C axis shows "33"(ie locked) but the locking mechanism has not moved. Meaning the tool is then not locked (and obviously falls out). I suspect there is a challenge with the homing and Driver Amps, but not sure how to fix this. Any ideas? Thanks!