Hi Chris,

I'm thinking of extending the J2 arm. As I'm hanging it it should reduce the weight so I am hoping that the motor can handle the additional strain from the increase in length.

Before I start work on it, I wanted to check in with you to get your feedback.

GamePlan: I am going to start with the model for the J2 arm and extend the middle section so I keep the existing dimensions for the existing motors.

I am also considering trading out the chain with a timing pulley & belt and potentiality adding in 1 or 2 tensioners.

1) Am I right that you would update the variable in the "Calibration" tab for "DH a-2 (link length") with the increased J2 length and that would then flow through the software?

2) If I am inverting the robot how much concern would you have about hitting the strength/holding limit for the J2 motor?

3) And are there any tips that you think might be of help to approaching it?

Thanks as always!