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I've considered picking up an absolute encoder for it. I already had the servos, so I was just trying to use them up. Each axis has a 100:1 harmonic reducer that's belt driven. The belts made the package a bit smaller and allowed me to route the cables through the center of the gear reducers. I'm not concerned about unwinding during a program. I just don't want to shut down the machine at say 400deg and then add another 320deg by always homing in the same direction.

I've got a half baked solution in mind. A while back I made a tool changer and spindle homing procedure from the home all button by calling a halui mdi command and then using g code and I think I might be able to do something similar for this.

Here's the file for the head assembly. It's a fusion archive, so hopefully it included all the components properly. If you want a different format just let me know.

drive.google.com/file/d/1jZTfEVjwmL9wT5n...b-K/view?usp=sharing