Hey folks, I'm currently trying to achieve very repeatable homing, i.e. after two homing moves, the toolhead should be at the exact same position with a deviation of less than 0.05mm. A bit of background: we are using a toolchanger to print electronic circuits, integrated into the normal plastic printing process. Part of this process is automatic pick&place of SMD-components from a tray that is mounted to the printers frame. To do so, we need very good calibration of all tool positions (nozzles) and of the toolhead against the frame. We use a camera, also mounted to the frame, to calibrate tool offsets. The normal sensorless homing with stall detection seems to be pretty imprecise. I see deviations up to 0.5mm between two homing moves. For reference: the Prusa I3 also uses sensorless homing with no visible deviations at all. I am not entirely certain about the reason, best guesses are: - the coupled XY axis of the CoreXY kinematic cause the stall detection to be unreliable, as two motors are involved at the same time - when the toolhad smashes into the frame, the other axis "jumps" slightly to the side I then utilized Greg's design for the Omron mechanical switches to integrate simple mechanical endstops: https://www.thingiverse.com/thing:3843642/files That improved the situation, but I still see deviations up to 0.1mm, which is to high for our application. Does anyone have a better approach? I considered multiple homing moves to sample and average the position. However, as far as I know, RRF has no support for multiple measurements (which would also be of interest to measure tool positions, e.g. z-offset of a nozzle).