I would start with checking the 3.3v and 5v terminals on the 3 pos terminal block. If either of those is shorted to ground anywhere in the wiring it can shut down the teensy board.

The encoder output is listed at 5v but I believe the actual output is between 3.3 and 3.5. The teensy board has never had an issue handling the encoder output. This was one of my primary concerns when trying to find low cost encoders in combination with the Teensy4.1 board and I did quite a bit of testing.

Where are you seeing a pre-payment for tariffs? I don't have any prepayment or tariff charges listed as part of the purchase. Unfortunately I did have to raise prices 10% given 5 shipments of parts that arrived last week had a 71% tariff rate hike attached to them and it cost me significantly more than usual. This was only for a handful of parts but as I need to replenish stock on other items the increased cost will continue to affect the kit price. I now have enough stock on aluminum & combo kits parts to get through the spring and probably most of summer. but I'm uncertain on the timeline and price to get more parts beyond that. I will keep the prices where they are at for the stock I've already paid for but if this volatility continues I could see having no choice but to raise prices further once I run out of parts - this project is super fun for me to work on and develop but there is not a lot of room on the pricing. I removed the aluminum only kits for now so I can ensure combo kits stay in stock for the next few months. If this craziness ends I'll of course bring the prices right back down as fast as I can.

Yes for some reason the Modbus master library sends a few "defined but not used [-Wunused-function]" warnings. I have not been able to resolve the warnings but they are just warnings and the Modbus master library functions as intended. It also runs fine on the teensy boards. Let me know if any of these are preventing you from running.

Are there any errors listed in the python console? When you create the .exe you also need to make sure all the supporting files are copied over to your exe folder. You can also just run the py file through python rather than converting to an exe.

Thanks for tagging me on this, If its working and helping those with the issue then Im sure it will be a good update.  I will add this to the next manual update.

I added some code to a beta version 5.2 for the HMI interface. Here is the source code - I didnt get a chance to fully test but if you have python installed you can try running this. I didnt make a button to insert the command automatically but you can use the manual entry field and insert "Cal_J7" into your program. Let me know if this works - I'll add buttons and clean it up when I get some time and ready to release 5.2 Im not sure about the GPT suggestion but the individual calibrate is already there - I just added and executeRow def for all the individual joints: ##Calibrate J7## if (cmdType == "Cal_J7"): if (moveInProc == 1): moveInProc == 2 calRobotJ7()

Awesome!

Hello, my apologies, I'll check the CAD files to make sure its not missing. Please email me at info@anninrobotics.com and I will send you the file.

Hello, no the robot gearboxes and J5 lead screw are not designed to be back driven. The robot needs to be jogged to position.

@goto_2004 is correct. If you navigate to Tools / Manage Libraries and install ModbusMaster you will be able to install the sketch. I have also added details about this in the manual in the Modbus chapter. Let me know if you have any questions.

I apologize for the delay I will dig into this, the tool jogging is generally used to reorient approach vectors of the tool and given its limited use I may have overlooked something. I will look into this and see if there is a compounding error or bug that I missed.

If it is off by 4mm after powering off and back on I suspect the arm is moving slightly when powered off? as the motors do not have brakes it must remain undisturbed or be recalibrated. I am concerned that previously you said after calibration its off again. I would recommend replacing any damaged switches and adjust the calibration offsets using a digital level or angle gauge to ensure each axis is 0 or 90 degrees when in the home or "L" config and then when you are confident it is calibrated and all axis at 0 in the home position touch up your points and then verify it can repeat after recalibrating. Please keep me posted on this. You can also email me at info@anninrobotics.com as I check my email regularly and can respond more quickly.

If you park the robot in the vertical rest position, power the robot off and back on without disturbing the arm position does it maintain position after powered back on? Is it only after a calibration that it is not retaining or losing position?

It looks like you are running version 5.1 that was just released. Do you see the same behavior in previous software / sketch versions?

The choice between NEMA 17 and NEMA 23 depends on your printer’s frame, size, and the level of torque you need. Most consumer 3D printers use NEMA 17 because they’re compact, energy-efficient, and provide enough torque for standard applications. However, if you're building a large-format or high-speed printer, NEMA 23 could offer more power—just keep in mind that they require stronger drivers and a compatible power supply. What kind of printer are you rebuilding, and what improvements are you looking for? In the past given low cost printers I have used this Anycubic printer which is $229 on Amazon https://www.amazon.com/ANYCUBIC-Printing-Engraving-Filament-Auxiliary/dp/B089M178BG  I like this printer due to the fact it comes mostly assembled and all that is needed it to attach the head rail and plug in the motors and controller.  It also has a glass bed as well as dual elevation Z height screws and dual bed rails. Recently I invested in a Bambu Labs Carbon X1 which has performed flawlessly with much greater quality than anything I have used in the past. Hope that helps.

Yes you can use the software in open loop mode if you do not have encoders. Yes the DM542T and DM320T will work with 3.3v input level to the teensy pins. You should use the latest version software and firmware sketch 5.0. You can load the AR3 defaults on the kinematics tab for your AR2 which should work just fine given the AR3 encoder variables will not be used in open loop mode.

The breakout board is highly recommended. You might be able to solder the connections but I believe its worth the extra money to have the terminals. You can get the breakout board on Amazon here https://www.amazon.com/Terminal-Breakout-Module-Teensy-Version/dp/B08R7P8G9X

That is correct. Keep me posted if you have any other questions.

OK, if you are getting the collision error I believe your encoder has a wiring issue. Please double check on the wiring and then test using the encoder test program. Let me know what you find. You can also email me at info@anninrobotics.com as I typically see my email right away and respond faster.