Sorry but was on the fore front of Tech for 35 yrs and push its limits even in Robotics so i am all for tech that actually works and seen more systems come and go and fail and money wasted time after time ----------But hey hats off yous are triers even if its in so many directions ------Maybe try and see if a company can make an actual front door that doesn't fall off its barn door wheels before 50,000 Cycles would be better money spent ---------------Double linear ways and balls screw driven slider doors we had installed didn't stop !!-----------Maybe while you can tell the company that Axis should always travel in a minus direction from home position not center of chuck that we had to change on every Doosan lathe from the factory we bought to normal procedures -Why you ask ?-------------If its minus then your geometric is a minus and if some clown or machine malfunctions deletes if the machine moves backwards on its first move and alarms out provided the programmer knows enough to have a first value positive 1!---------So much to learn