I'm a little bit lost...
Is there an easy way to visually identify an ARx model ? (MK2, MK3 , .. ) ???
Where can I find a compatibility matrix ( what UI version is compatible with what firmware version and with what hardware MK )
Is the most recent software backward compatible or should I pay attention to some limits ?
Suggestion / new feature : store the identification data (model, maybe a serial number, ..) in an EEPROM somewhere and read it at Teensy boot time and show it on the UI ?
What are the migration paths (hardware) ? I saw some upgrade kits on the web site but not sure what are the requirements..
Thanks
Philippe
Thanks for the detailed answer. Let's say I would like to upgrade my AR4-MK1 to the latest hardware (MK4). Would it be possible to source an upgrade kit (J4 with updated gearbox, J6 motor with new limit switch, ..) ?
Hello, The MK1 was the original design with the external enclosure. For the MK2 The J4 gearbox was updated and steps per degree increased to 49.7777 for this joint. With this update the drivers changed to smaller drivers and the base mounted drives. For the MK3 the J4 and J6 axis limits were increased to 180° as the limit switch design was changed allowing for more rotation. The J6 motor was also updated to a better gearbox and the length changed a bit so in the DH params the J6 DH-d value increased to 41. On the software downloads page there is a separate download section for each version - including the manual for each version. The latest software for the MK3 however is compatible with previous models - if you navigate to the kinematics tab you can select and save which version robot you have built.