I am able to jog the robot, calibrate to rest position. however, I continue to get collision or out of calibration warnings when I get to J4. Then after I calibrate to rest, and auto calibrate, I run home and rest programs. After the second round when I run the home or rest program the arm begins to collapse somewhat slowly under power either in positive or negative direction. I respond by hitting the emergency shut off switch and then catch the arm. I noticed that the actual position of the rest program changes pretty drastically. Some programs can loop for example if I only move J1 or J2. However, other programs can not run properly because of the collision or calibration warnings. The current location registered in ARCS for some of the joints does not seem to be changing perhaps due to the warnings. I reinstalled all of the encoders and made sure the sleeves are correctly installed. I rechecked all the wiring. Any ideas on what I am doing wrong? Thank you again so much for your help! I certainly appreciate it.

J4 is the only joint that moves. I am getting COLLISION WARNING on all joints. I did the following troubleshooting: tested that encoders are communicating with ARCS by pressing emergency stop and moving joints: result is that all joints register reasonable changes in values. I verified all wires with multimeter. All stepper drivers are getting signal sent from the Teensy 3.5. I noticed some warnings when uploading the teensy sketch in arduino: Warning regarding unused variables, syntax warnings, and undefined operations. Is this normal? The only motor cable that gets power from the driver is J4. I set the ARCS to open loop and still only J4 moves. Warnings on ARCS include: AXIS LIMIT, COLLISION OR OUT OF CALIBRATION for all joints. I to reset calibration to rest position, but i still get the warnings. The green light illuminates on all of the stepper drivers. Any suggestions on what I should look at next? Thank you!