I'm using an ODrive controller with a brushless motor / encoder for my 7th axis. The ODrive is setup in step/direction mode to connect to the Teensy. The ODrive can also be setup to automatically seek a home switch each time power is applied. This setup depends on the robot being in an OK position BEFORE power is applied to the 7th axis,

Well, I tried that without much luck. So, I've got two different joint points taught in two different locations. Joint 7 is set to 10 in the first position and 50 in the second. Other joints differ too. I've also got a one second delay between points all wrapped in a loop. When the program starts, all joints move to the first position. However, joint 7 moves to zero. The robot then cycles between the two positions - excluding joint 7. Joint 7 never moves again after that first move to zero. The HMI also shows joint 7 at zero and never updates as the program runs. Again, joint 7 moves just fine when jogging. Also, teaching a point also picks up the position of joint 7 and adds it to the taught line of code. Even so, while running a program, joint 7 just moves to it's zero position and never moves again. Thanks, Jim

Nope, version 1.3 had the same kind of error: However, the new 2.1 version does work. Weeeee! Just one thing, the laptop screen maxes out at 1368x768 which clips the right hand side of the AR4 window. Any easy way to detect small screens and turn on scrollbars? Not the end of the world - this is $60 laptop from Micro Center. I think it's a left over educational laptop. Hard to past up for $60 bucks. I'm hoping it will make a good teach pendant for a AR4. Below is the full-screen capture. Notice the screen cutoff on the right. Even allowing the screen to be resized by grabbing along the boarder to stretch it would be ok. Thanks, Jim