Couple other things I've noticed: 1) J3 pressing + makes the joint move correctly, I do the calibration of J3 and when its resting on the limit switch it's showing 143 like it should. When I then tell it to move - with a 140 degrees to jog at the end it moves back near vertical but it's showing 283.65 degrees??? Something seems weird there. Any command I put in regardless of direction moved (which is correct) is constantly increasing the angle and step count. 2) If I have the J6 cable attached then I'm not getting any connectivity to the Teensy or the Mega. I'm wondering if I somehow cross the black wire of the encoder with the black wire of the motor when wiring up joint 6, but I don't see how considering they are done in completely different manual steps... and I DID test the continuity of all the wires in the encoder connector all the way down to the ethernet cable and it came back as connected so I don't think that's it.

Any luck finding one on Amazon that works? I'm utterly clueless on pneumatic stuff... I'm not finding anything on amazon with the specific numbers 4V110-M5-DC24V. I see a lot of 4V210 DC 24V... What are the specific specifications we should be looking for?