Great stuff Frank
May I ask what power are you supplying to the G-11? I had constant RA stalls on mine when it ran 12 volts straight from a deep cycle car battery which is why I went back (then...) to the standard Digital Drive electronics and steppers rather than Gemini and servos. Not everyone finds the same problem, and it is mostly sorted with power supplied up around 14-16vDC. Anyways - you're running a heavy-ish apparatus, so i thought I'd ask.