Im not 100% sure which parts are processed on the 5 axis machine. I believe the J6 housing is done on a 5 axis and the others I think can be made on a 3 axis but im not for certain on that.

I had to have those custom made. These bushings directly replace the stock trade bearing number LM3UU. The MK1 used the bearing but I switched to the bushing as many of those tiny bearings would fail and they had a little more play than I liked. You can still use the LM3UU for an off the shelf option and I have the new bushing in the hardware kit.

I wanted to mention that Yifei Cheng has added files for the MK2 to this repo. I have not had time to test yet but I was hoping someone in the comunity would be able to test this out on the MK2 and give feedback. I also wanted to thank Yifei for taking the time to put this together and contributing to the project. This is a great development - Thank you.

For the AR3 software its not as easy to adjust the axis limits. If you can use the latest software for the MK2 and then select the presets for the AR3 you can adjust the limits. I dont understand the -10 to +10 jogging issue. You said you moved the switch out of the way - was that because of a calibration issue? is it not autocalibrating? If you could send me a quick video of what you are seeing that might help.

I'll reach out to my contact at Stepperonline and see if they can sell each motor individually.

This thread has some additional info. https://www.anninrobotics.com/forum/general-discussion/robodk-with-ar4-robot I believe you will need to be running the MK1 software version 2.2 for RoboDK.

Yes, if you look under the print files for the original AR4 the J2 stop had the 8 hole pattern. Let me know if you have any trouble finding it.

Can you send me some screenshots of what you are seeing as well as a copy of the find image file so I can try to help.

Hello, thank you very much. I am working on a quick update to the gcode functionality. I hope to get it finished up and release a tutorial video on the gcode very soon.

Is that position shown after J5 autocalibrates? Is it possible the J6 spindle slipped in the pulley when it crashed - check mechanical calibration where its position is set to 105° when the J5 carrier is all the way forward.

I will try to make a new video on the kinematics. as for as atan xy - excel is backwards and does atan yx

You can use the AR3 motors and encoders. Under the AR3 downloads there is a document on doing this https://drive.google.com/file/d/1KONNuxRzQHCDlyg-BOjEqPVgVT9Q4HzW/view follow the wiring from this document and then if you want to use the latest MK2 sketch and software there is a button on the kinematics tab to load AR3 defaults.

My aplogies, I overlooked adding the split structural parts. They are listed under the AR3 downloads. I will try to get the AR4 downloads updated when I get some time this weekend.

The holes on the side were originally inteded to secure some of the cables but are no longer used. I apologize those 2d drawings are out of date.

I will reach out to Stepperonline and find out what type of loctite they are using and request they not loctite these in the future. Can you tell me how long ago you purchased your motors - im just curious if your is from a recent production run or a previous run.

Earlier in the AR2 software I had a fine calibration feature that allowed you to modify the calibration based on a reference position. I replaced that process with calibration offsets which allows you to use a digital level to modify calibration angle to compensate for any variation in the limit switches. Currently the 7th axis calibration is stand alone but I will look into adding that to the autocalibration.

Excellent work, looks great. thanks for posting.

I dont currently have any upcoming updates related to payload. I have recently been doing some testing and the robot can lift 5lbs (possibly a little more) when the arm is closer in and not fully extended. I will keep everyone updated if I have any updates to increase the payload. Thank you

Can you email me a pic and measure the diameter of the post. Did you get the parts from the website or source elsewhere? I'm guessing its a bad bearing but its entirely possible the post is bad, in either case I will replace whatever needs to be replaced, let me know. I try to review ever forum post but email is always the fastest way to get a hold of me if you need help right away with a part.

Does the issue of losing position go away if you put J5 into open loop mode?