I found so servos on stepper onlines web site that support pulse control so they are hypothetically a drop in for the current steppers and drivers. They are fully closed loop so no encoders would be connected to the ar4 software. But they do know were they are and can be run in absolute position. https://www.omc-stepperonline.com/t6-series-1000w-ac-servo-motor-kit-3000rpm-3-18nm-23-bit-encoder-ip67-t6-rs1000h2a1-m23

I am looking at rebuilding my robot for CNC tending but was wondering if there is a way to stop the robot from going floppy when the Emergency stop is hit as this can cause problems. Most industrial robots have electro mechanical breaks and absolute position encoders is there a reason not to use motors with brakes on them.

I build an ar2 back in 2019 and now want to upgrade it to be an ar4 what parts will I need to bye or re print.

Are you going to releses a 7th axis with an encoder for the AR3 robot?

is there a way to input teaching pendent values through the Arduino mega?