@Phaedrux I'm still having issues but I'm not sure why. Sometimes the motors will skip and start making a horrible noise when the endstops should have been triggered. The other issue I'm having is I don't know how to home Z without a Z probe? I've got M558 in config.g. How do I tell the board that the Z axis is homed?

@Phaedrux

; Configuration file for Duet WiFi (firmware version 3.3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:40 GMT+1100 (AEDT)

; General preferences
M575 P1 S1 B57600                               ; enable support for PanelDue
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"MPCNC"                                   ; set printer name

; Network
M552 S1                                         ; enable network
M586 P0 S1                                      ; enable HTTP
M586 P1 S0                                      ; disable FTP
M586 P2 S0                                      ; disable Telnet

; Drives
M569 P4 S1                                      ; physical drive 4 goes forwards
M569 P3 S1                                      ; physical drive 3 goes forwards
M569 P2 S1                                      ; physical drive 2 goes forwards
M569 P0 S1                                      ; physical drive 0 goes forwards
M569 P1 S1                                      ; physical drive 1 goes forwards
M584 X0:1 Y3:4 Z2                               ; set drive mapping
M350 X16 Y16 Z16 E16:16 I1                      ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E420.00:420.00        ; set steps per mm
M566 X900.00 Y900.00 Z60.00 E120.00:120.00      ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z180.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z20.00 E250.00:250.00      ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E800:800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                         ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                                ; set axis minima
M208 X855 Y612 Z120 S0                          ; set axis maxima

; Endstops
M574 X1 S1 P"!e0stop+!e1stop"                     ; configure active-high endstops for low end on x via pins e0stop and e1stop
M574 Y1 S1 P"!xstop+!ystop"                       ; configure active-high endstops for low end on y via pins xstop and ystop                                                                                                

; Z-Probe
M558 P0 H5 F120 T6000                           ; disable Z probe but set dive height, probe speed and travel speed
M557 X15:215 Y15:195 S20                        ; define mesh grid

; Heaters
M140 H-1                                        ; disable heated bed (overrides default heater mapping)

; Fans

; Tools
M563 P0 D0 F0                                   ; define tool 0
G10 P0 X0 Y0 Z0                                 ; set tool 0 axis offsets
G10 P0 R0 S0                                    ; set initial tool 0 active and standby temperatures to 0C

; Custom settings are not defined

@Phaedrux After a few days break I'm back at it and am having an issue with homing. When I try to home X the 2nd X motor (X1 is driver 0, and X2 is driver 1) gets stuck right before the endstop would usually be triggered and starts shaking violently. The same thing happens when I try to home Y, the 2nd Y motor (Y1 is driver 3 and Y2 is driver 4) starts shaking violently and making a horrible noise when it gets to the endstop. Any ideas what might be causing this?

Here's the M122 and M98 readouts from previous. Looks like it updated correctly

m122

m122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.6 (2023-07-21 14:08:28) running on Duet WiFi 1.0 or 1.01
Board ID: 08DAM-999TL-MQ4S4-6JKDG-3S46M-TPH3Y
Used output buffers: 1 of 26 (12 max)
=== RTOS ===
Static ram: 23896
Dynamic ram: 73796 of which 264 recycled
Never used RAM 14124, free system stack 184 words
Tasks: NETWORK(notifyWait,13.6%,272) HEAT(notifyWait,0.0%,388) Move(notifyWait,0.0%,363) MAIN(running,85.1%,454) IDLE(ready,1.3%,30), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:01:11 ago, cause: software
Last software reset at 2023-10-23 14:33, reason: User, GCodes spinning, available RAM 13980, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0041f000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Step timer max interval 0
MCU temperature: min 33.3, current 34.8, max 35.2
Supply voltage: min 12.9, current 12.9, max 13.1, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min n/a
Driver 1: standstill, SG min n/a
Driver 2: standstill, SG min n/a
Driver 3: standstill, SG min n/a
Driver 4: standstill, SG min n/a
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
Date/time: 2023-10-23 14:34:59
Cache data hit count 2530679737
Slowest loop: 9.72ms; fastest: 0.18ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 1.7ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== Network ===
Slowest loop: 275.46ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
= WiFi =
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.27
WiFi MAC address 60:01:94:09:b9:45
WiFi Vcc 3.34, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 25176
WiFi IP address 10.0.0.5
WiFi signal strength -67dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

M98 P"config.g"

M98 P"config.g"
HTTP is enabled on port 80
FTP is disabled
TELNET is disabled
Error: in file macro line 25 column 19: M350: array too long, max length = 0
Error: in file macro line 26 column 28: M92: array too long, max length = 0
Error: in file macro line 27 column 30: M566: array too long, max length = 0
Error: in file macro line 28 column 33: M203: array too long, max length = 0
Error: in file macro line 29 column 30: M201: array too long, max length = 0
Error: in file macro line 30 column 22: M906: array too long, max length = 0
Error: bad drive number
Error: in file macro line 52: G10: Invalid tool number
Error: in file macro line 53: G10: Invalid tool number

I think I've figured it out all good. It's showing as homed on X and Y with the endstops triggered. Thankyou so much for your help!

@Phaedrux I've been able to change the endstops in M574 with the ! to flip the endstops so they work correctly. Now if I try to home X or Y only 1 motor is activating. What commands do I need to put in so that it will activate both motors independently?

Home X:

; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:41 GMT+1100 (AEDT)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 X-860 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 H2 X5 F6000    ; go back a few mm
G1 H1 X-860 F360  ; move slowly to X axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

Home Y:

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:41 GMT+1100 (AEDT)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y-617 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 H2 Y5 F6000    ; go back a few mm
G1 H1 Y-617 F360  ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

Home All:

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:40 GMT+1100 (AEDT)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-860 Y-617 F1800 ; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X5 Y5 F6000       ; go back a few mm
G1 H1 X-860 Y-617 F360  ; move slowly to X and Y axis endstops once more (second pass)
G1 H1 Z-125 F360        ; move Z down stopping at the endstop
G90                     ; absolute positioning
G92 Z0                  ; set Z position to axis minimum (you may want to adjust this)

; Uncomment the following lines to lift Z after probing
;G91                    ; relative positioning
;G1 Z5 F100             ; lift Z relative to current position
;G90                    ; absolute positioning

@Phaedrux Yes that's correct, I have it setup as CAD because that's what I'm familiar with. I'll update the software now and see if that makes a difference

@Phaedrux
I used the duet config website to generate this config so I'm not sure what all the errors in M98 are about? The G1 command moved everything towards the 0 point of each axis is that right? I currently have the motors set so that if I press X-50 it moves towards 0 and X+50 is away from 0. The endstops are on the truck carriages and should trigger when the axis reaches 0

current config:

; Configuration file for Duet WiFi (firmware version 3.3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:40 GMT+1100 (AEDT)

; General preferences
M575 P1 S1 B57600                               ; enable support for PanelDue
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"MPCNC"                                   ; set printer name

; Network
M552 S1                                         ; enable network
M586 P0 S1                                      ; enable HTTP
M586 P1 S0                                      ; disable FTP
M586 P2 S0                                      ; disable Telnet

; Drives
M569 P4 S1                                      ; physical drive 4 goes forwards
M569 P3 S1                                      ; physical drive 3 goes forwards
M569 P2 S1                                      ; physical drive 2 goes forwards
M569 P0 S1                                      ; physical drive 0 goes forwards
M569 P1 S1                                      ; physical drive 1 goes forwards
M584 X0:1 Y3:4 Z2                               ; set drive mapping
M350 X16 Y16 Z16 E16:16 I1                      ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E420.00:420.00        ; set steps per mm
M566 X900.00 Y900.00 Z60.00 E120.00:120.00      ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z180.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z20.00 E250.00:250.00      ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E800:800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                         ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                                ; set axis minima
M208 X855 Y612 Z120 S0                          ; set axis maxima

; Endstops
M574 X1 S1 P"e0stop+e1stop"                     ; configure active-high endstops for low end on x via pins e0stop and e1stop
M574 Y1 S1 P"xstop+ystop"                       ; configure active-high endstops for low end on y via pins xstop and ystop                                                                                                

; Z-Probe
M558 P0 H5 F120 T6000                           ; disable Z probe but set dive height, probe speed and travel speed
M557 X15:215 Y15:195 S20                        ; define mesh grid

; Heaters
M140 H-1                                        ; disable heated bed (overrides default heater mapping)

; Fans

; Tools
M563 P0 D0 F0                                   ; define tool 0
G10 P0 X0 Y0 Z0                                 ; set tool 0 axis offsets
G10 P0 R0 S0                                    ; set initial tool 0 active and standby temperatures to 0C

; Custom settings are not defined

M122 report:
M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.1.1 running on Duet WiFi 1.0 or 1.01
Board ID: 08DAM-999TL-MQ4S4-6JKDG-3S46M-TPH3Y
Used output buffers: 3 of 24 (19 max)
=== RTOS ===
Static ram: 27980
Dynamic ram: 92908 of which 32 recycled
Exception stack ram used: 352
Never used ram: 9800
Tasks: NETWORK(ready,404) HEAT(blocked,1456) MAIN(running,1880) IDLE(ready,80)
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:01:20 ago, cause: power up
Last software reset at 2023-10-14 15:57, reason: User, spinning module GCodes, available RAM 9680 bytes (slot 2)
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0041f000 BFAR 0xe000ed38 SP 0xffffffff Task MAIN
Error status: 0
MCU temperature: min 32.8, current 33.0, max 33.6
Supply voltage: min 12.8, current 12.9, max 13.0, under voltage events: 0, over voltage events: 0, power good: yes
Driver 0: standstill, SG min/max not available
Driver 1: standstill, SG min/max not available
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max not available
Driver 4: standstill, SG min/max not available
Date/time: 2023-10-14 16:56:14
Cache data hit count 135137405
Slowest loop: 151.62ms; fastest: 0.13ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 2.0ms, write time 228.0ms, max retries 0
=== Move ===
Hiccups: 0(0), FreeDm: 169, MinFreeDm: 169, MaxWait: 0ms
Bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves: 9, completed moves: 9, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1
=== AuxDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1
=== Heat ===
Bed heaters = -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 481.27ms; fastest: 0.09ms
Responder states: HTTP(2) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions
HTTP sessions: 1 of 8

• WiFi -
  Network state is active
  WiFi module is connected to access point
  Failed messages: pending 0, notready 0, noresp 1
  WiFi firmware version 1.23
  WiFi MAC address 60:01:94:09:b9:45
  WiFi Vcc 3.35, reset reason Unknown
  WiFi flash size 4194304, free heap 23568
  WiFi IP address 10.0.0.235
  WiFi signal strength -66dBm, reconnections 0, sleep mode modem
  Socket states: 4 0 0 0 0 0 0 0

M98 report:
M98 P"config.g"
HTTP is enabled on port 80
FTP is disabled
TELNET is disabled
Error: in file macro line 25 column 22: M350: array too long, max length = 1
Error: in file macro line 26 column 35: M92: array too long, max length = 1
Error: in file macro line 27 column 37: M566: array too long, max length = 1
Error: in file macro line 28 column 41: M203: array too long, max length = 1
Error: in file macro line 29 column 37: M201: array too long, max length = 1
Error: in file macro line 30 column 26: M906: array too long, max length = 1
Tool 0 offsets: X0.00 Y0.00 Z0.00

@Phaedrux Thank7you I really appreciate your help! Okay so I think I've set up the endstops correctly, but when I try to home all the axis just moves maybe +10 in X and Y and comes up with failed to enable endstops

This is what I have the endstops as:
; Endstops
M574 X1 S1 P"e0stop+e1stop" ; configure active-high endstops for low end on x via pins e0stop and e1stop
M574 Y1 S1 P"xstop+ystop" ; configure active-high endstops for low end on y via pins xstop and ystop

And this is my Home All file:
; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Mon Oct 09 2023 20:52:40 GMT+1100 (AEDT)
G91 ; relative positioning
G1 H2 Z5 F6000 ; lift Z relative to current position
G1 H1 X-860 Y-617 F1800 ; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X5 Y5 F6000 ; go back a few mm
G1 H1 X-860 Y-617 F360 ; move slowly to X and Y axis endstops once more (second pass)
G1 H1 Z-125 F360 ; move Z down stopping at the endstop
G90 ; absolute positioning
G92 Z0 ; set Z position to axis minimum (you may want to adjust this)

; Uncomment the following lines to lift Z after probing
;G91 ; relative positioning
;G1 Z5 F100 ; lift Z relative to current position
;G90 ; absolute positioning

@Phaedrux I have dual motors. I don't know why the config came out like that. This is my current config for the motors and end stops:

I'll try playing around with the m574 command. any suggestions for the proper config given my current setup?

; Drives
M569 P4 S1 ; physical drive 4 goes forwards
M569 P3 S1 ; physical drive 3 goes forwards
M569 P2 S1 ; physical drive 2 goes forwards
M569 P0 S1 ; physical drive 0 goes forwards
M569 P1 S1 ; physical drive 1 goes forwards
M584 X0:1 Y3:4 Z2 ; set drive mapping
M350 X16 Y16 Z16 E16:16 I1 ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E420.00:420.00 ; set steps per mm
M566 X900.00 Y900.00 Z60.00 E120.00:120.00 ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z180.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z20.00 E250.00:250.00 ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E800:800 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1 ; set axis minima
M208 X855 Y612 Z120 S0 ; set axis maxima

; Endstops
M574 E0 S1 P"xstop". ; configure switch-type (e.g. microswitch) endstop for low end on X via pin xstop
M574 E1 S1 P"x2stop" ; configure switch-type (e.g. microswitch) endstop for low end on X2 via pin x2stop
M574 X1 S1 P"ystop" ; configure switch-type (e.g. microswitch) endstop for low end on Y via pin ystop
M574 Y1 S1 P"y2stop" ; configure switch-type (e.g. microswitch) endstop for low end on Y2 via pin y2stop

@Phaedrux Oh... I'm sure I've read about other people doing dual end stops with the duet? the reason for the 2 end stops on each axis is so that the machine automatically squares itself using the 2 end stops on each axis. I really want to make it work with the 2 so that it's completely square every time. If I remap the 2nd Endstops of each axis to a different stop will that work? Say if u used the z stop for x2 and one of the expansion slots for y2? I don't have a z stop as the router isn't connected to the board