Hi - first of all: I am very impressed by this project.
I already started to print. And ordered motors and some other stuff.
I went through the documentation, looked for the drive train and control circuit.
My question is: How are you referencing the axis if you run the robot in some automatic functions? Or don't you?
Because you wrote somewhere that you are currently not using encoders and I did not see any end-switches or reference switches in the BOM.