I rechecked my J4 driver and fixed my DIP switch set up, but then I still get overheat, I then rechecked my wiring system and realized I mismatched J4 with J5 cable in the electrical box, I then switched them back and solved the overheat problem. So jjuat recheck everything and make sure the wire connection run appropriate amount of power to the right motor driver

My suggestion is check the wire connections and make sure there is no short, those electrical short mostly appear in the wires that connected from the electrical box to the enclosure box as well as between the gx16 pins

Hi, I have encountered this problem before, the motor driver may getting more power input than its capacity, try checking the DIP switch setting of the J4 driver to see whether the set up is correct, you can look it up in the manual

also for the J5, as you can see on the human interface, it theoratically reach the limit of the axis already, you can disconnect the robot and move the bar to the middle and then reconnect it to the robot, it should now have the new motor axis limit

The second problem can be solved by check all the boxes to disable all the encoders on the config settings, after that the robot arm should move just find without throwing errors

Yes, apparently there is something wrong with the signal from the encoder (probably noise) that keep making the encoder sending warning about the collision of the robot. After I decide to turn off all the encoders the robot arm works just fine However, that means the encoder will be in no use, so now I am trying to shield all connection cables and ground them to prevent all the noise that affect the signal.

I believe the noise are coming from the motors themselves while on power. Since the power supply coming to the motor is relatively large, it is very possible that the fact that the wire of the motor going along with the signal wire of the encoder in the braised sleeve have cause the noise that affect the sensitive signal of the encoder transmit to the computer program. My effort now is to just replace every wire that are not shielded to completely shielded Ethernet cables, along with continuously grounding all of the shielded cables to ground, including the box and the robot itself. I will try this and we will see how the signal of the encoder would improve

Thank you for your reply I wonder if the encoder in AR4 already can cancel noise itself, then why I keep getting error on the motor encoder everytime they are turned on during runtime. I have to turn off all the encoders themselves to make the robot be able to run the program. However, this would just simply a waste for the encoders on the motor since I do want to use them to get position feedback. Again, I acknowledge that the shield cable without grounding have no effect in protecting sensitive signal. That is why I confuse whether Chris Annin also know about this because in the manual instruction, the shield cables of the encoders and the limit switches are only shielded, but not grounded.

Hi! So how exactly the way that you successfully connect AR4 to the RoboDK software? I tried the following as u said but it turned out connect failed: Robot IP/COM: COM Robot port: 6 (which is my Teensy port)

Beautiful work Florin! This would help us a lot whether we want to upgrade the AR4 to the next level for permanent use! Thank you and can't wait to see what you will come up next!

yes all the wired from the robot base to the enclosure is all shielded ethernet cables. Should I replace all the encoder wires on the robot to shielded ethernet cables to ultimately reduce the noise issues? or is there another way that I can get through with this issue?

Thank you for your response Chris Yes I'm using all the components from the AR4 manual I have changed all the Joints to open loop mode and the program work smoothly as expected now I wonder if this is because of the motor encoders problem? If so is there anyway I can troubleshooting this?