I cant belive I’m typing this, but it works. After intensively working on the software side the last few days while waiting for the last hardware pieces needed I assembled everything today. I put on the jumper caps to enable microstepping and installed the new cables for joint 3. When everything was done i just had to do a tiny bit of troubleshooting but after that it just worked! I can control all the joints and the software also doesnt really have any issues. The only thing that doesn’t fully work yet is the target point feature, since i cant home the arm yet. Some magnets will arrive in a few days and i’ll use them with hall effect sensors to home the arm. Then it’ll hopfuly work just as it should and i can get to documenting this whole thing for you guys!