It would definitely be great to have some functionality beyond monitoring, like also some error correction. A button which would correct the coordinate system when so chosen. Maybe on a per axis basis also. And maybe a reckless mode, for correcting on the fly for when you gotta move fast and don't care about safety.

@Chris Annin that's fantastic! I just realized they don't have a hobbyist license though so maybe ROS would be better suited for some of us. I went to install that but realized just before finalizing that it didn't support AR3 yet. This repo that is https://github.com/ongdexter/ar3_core

So no RoboDK support as of now?

Calibration was successful with 1.3, issue with J3 was a loose pulley due to no key being inserted. Thanks for the quick update Chris! You're a star. Only issue now is this probably abnormal offset on J5? Having issues with getting the limit switch to trigger reliably and getting the offset smaller. Can't really get further than this.

@Chris Annin I get no additional errors in the log. Each joint fails individually when calibrating individually. Though they complete their movements so visually it looks like it's working. All limit switches work as intended, going from 0 to 1 when depressed.

It does calibrate normally in motion regardless of if encoders are active or not, but I get error messages about failed calibration.

@Chris Annin yes. Encoders work like expected if motor drivers aren't powered. J3 encoder goes out when they're powered.

Could this be a part of the problem? On page 236 in the AR4 manual, it states that a brown wire from top ethernet jack should be wired to "VIN". The corresponding pin in reality for the breakout board and the teensy 4.1 is labeled "5V". So it's a supply voltage and not voltage in? If that brown wire should be moved, where should it then be moved?

It sounds really cool, but how would backlash be handled?