Hi @gregh I found my mistake - you have to use the Arduino IDE and install Teensyduino then find the .ico file you want to upload. Then, follow Teensy's upload instructions from the IDE. Good luck!

Hi @Chris Annin and @Orçun Oruç Aykaç - thank you so much, it was indeed the B- wire connection from the extension wire to the motor wire. I was kinda thinking it could be a wire issue, but was surprised any of those had been disturbed enough to give a fault. But sure enough. Thank you both for your excellent input! Duane

After lots of adjusting the mechanical parts, it moves more freely. But as you can see, the clicking is still there. Is this in the stepper? Or do you think it's somewhere in the mechanics? When I wiggle the carriage where the J5 drive shuttle runs at the J4 timing gear, it still clicks badly but seems to want to move more... Any possible suggestions of what's going wrong here would be greatly appreciated. Thanks!

@1060969419, the package is awesome generally - thank you for the hard work! Quick question - are there any additional steps that need to be taken to install the teensy 3.5 firmware? I was previously using ARCS and of course had to flash the firmware. Right now when I use the hardware control launch command from your github page it hangs on "Loading controller: /ar3/controllers/state" and I am wondering if this is the issue... Thanks!

@Chris Annin any clues? Are Proximity switches mechanically accurate enough and repeatable enough? Do they cause any electronic interference? I assume the voltages and signal (on / off) will work... any reason I couldn't try to replace the limit switches with prox sensors?

Thanks, @Chris Annin! It's finally mobile. Here's a video of it going through some moves. Generally it's amazing! I really can't say enough good things about the experience. That said - you can also help me troubleshoot something - that grinding noise about halfway through the video is the J1 drive belt slipping. It has been doing that when the moment forces are too great - looks like the weight of the arm when extended is causing the J2 stage to rub against the J1 Turret and making friction, which is too much load for the belt. I've tightened the belt, loosened it, made sure the belt run is flat, tightened and loosened the J1 bearing tension screws, tightened down the J1 spindle attachment screws. What am I missing? Any suggested fixes? Thanks in advance! Annin AR-3 Startup Video

I replicated the problem again this morning then swapped the J2 and J3 encoders. So J3 should have had the same problem. After the swap, neither did. I have no idea what the issue was. Problem... mooted?

Glad I took another look at the manual and the other side of the J3 drivetrain before I removed the arm. There's no J3 adjustment on the arm side, so it would have been useless to do. And the problem turned out to be loose set screws on the J3 motor end sprocket and some play in the tensioner. Nailed those down and the excess play went away. Apologies for the wasted time if you were going through the manual trying to find a fix to a phantom problem!