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Delta stage autofocus with x20 objective lens is not working/z-axis not moving as expected?

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Hi guys! We set up the delta stage accordingly and got a x20 objective lens but when we try to autofocus, nothing seems to happen.
Before focusing:


After focusing :

From what it seems, the image has just moved in the y direction rather than staying fixed in the z axis and going up and down. Further testing this, we tried moved in the z-axis in general and found that it would drift in the y-axis. The motors are wired and assembled as mentioned so we’re not sure what else is going on or what can be fixed!!

Thank you in advance!

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