Hods1222, I can try to help with the servos, but afraid not much help for the a2100 side of it. There are some really sharp a2100 wizards on here; hope one sees this can help you! You also have access to the OEM, Fives Group, @ 800-934-0735

Z axis says "not ready?" How do you know that? What is the indication? Are your drives black or blue?