Hey Hood,
Get this. After working for several days, now the Z goes to home, stops and doesn't go up off the switch, so I have a limit engaged message. It seems as if it's either not overriding the switch, or it isn't backing off the switch. The servo motor does NOT backup in Z like it does in X/Y. In X/Y it hits the switch and backs up a little, in Z, it hits the switch, the motor doesn't reverse even a tiny bit, and I get the limit on message and the LED's are on on the diagnostic page. What might that be? Granted, the knee is heavy but counterbalanced with 2 200 Lb. gas springs, so it moves pretty easily. I'm mystified again!