Hi everyone, I've been following this project for a long time. I built this arm, I used stepper motors and harmonic reducers. as a structure is very stable, I have carried out tests for repeatability, and they have done well. now the painful notes come: having adopted a geometry a little different for the 5 axis, I would like to know if it is possible to move the offset to make the x axis and the y axis laugh, with the commands from software.