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Sorry I can not really help, but searching for infos on my Baruffaldi RH80 I found some infos in the internet that can at least help to identify Baruffaldi toolchangers and show some of the interior, nothing to technical- just pictures of a brochure. But might be potentially helpful for anyone searching for infos on his Baruffaldi TC:

As I mentioned. First I am trying to test it with a4988/drv8825 drivers. That's why I didn't loaded tmc5160 modules. Testing it in step/dir mode only

Hi, LinuxCNC is very capable of handling this configuration with 4 joints and a X Y Y Z configuration. Check out the config below for my 3D printer that has dual Z axes.

github.com/scottalford75/Remora/tree/mai...figSamples/hypercube

The two joints won't jog together until they have been homed. I've found that out the hard way...