I met Annin Robotics after I started my own custom 6 axis robot arm project. So, I had almost finished my project. I wish I had met Annin Robotics before I started my own project. But, despite everything, I found a way to take advantage of annin robotics. BTW, lots of thanks to Chris Annin for creating AR series robot arm and made them available to everyone. Thanks to him I discoverd many things and found solutions ways to my issues. Maybe I couldn't have AR4 robot arm kits, but now I am trying to adapt the software to my own project. I got Teensy 4.1 and connect the robot through Teensy. I hadn't have a stepper motor with encoder. But now I have. I have replaced stepper with encoder one. And now trying to work the robot with it. If I can enable stepper with encoder, I will be very happy. :) Because it is different than AR4 structure, it pushes me.

Secondly, in addition that, I am trying to connect the robot to RoboDK software. I have got AR4 beta driver from RoboDK and trying to use it. But couldn't be connected to the robot :/

Maybe someone of you can help me.

This is my custom 6 axis robot arm. Now, it doesn't have any limit swtiches but I am working on: I am reading AR4 manual. :)