Look great. Good job.

I agree with Chris. It's about wiring power cables. Check that A+A-B+B- wires which go to J2 motor.

You probably wired connections incorrect. You might have connected the cables cross. Check that J5 cables go to correct driver.

The issue doesn't look mechanical. This seems like A+ A- B+ B- (OR +/- ) wiring. Be ensure that you wired J5 connections correctly.

It seems you spent lots of time to do this beautiful cabinet. Looks great.

The problem occurs when I try to feed two relays by one power adapter. When I feed each device, which connected to relays, by different power adapter, no problem occurs. Consequently, I solved the problem by using two different power adapters. Please help if someone finds a way using by one adapter.

Thanks Johann. I checked USB cable. It works and gives 5v correctly. When I plug power supply, which I use also for motors, to 2 channel relay module and power, it doesn't work stable: It works and syops after a while. I think the problem may be about GND. BTW: I use 2 channel at the same time. I think using Arduino and relay module might not be stable way. :/

I realized that the problem based on USB plug of arduino. When I feed arduino(I tried on arduino UNO and MEGA ) via an extarnal 5v adapter and UNPLUG usb cable, 2 relay works well. When I change it to USB plug again, it does work unstable. I can use external adapter it to work properly. But how can I send command if I don't use USB cable? I can't send data via AR4 software.

I changed and relace 3 ethernet cables and checked them with the resistance of the multimeter. This a continuity test. Result is OK: 0 resistance. But I am still getting "Collision or Motor Error" from J5 encoder. Voltage on the left and center terminals of the distribution block was, which I measured, 4.44v. (Not 5V) Voltage on the right and center terminals of the distribution block was 3.16v. (Not 3.30v) I feeded those wires by an external adapter and made them became their voltage 5v and 3.30v and tested again. Encoder works fine after some moves, but then, I get Collision or Motor Error again. After that error, it works when I try to move same joint and the error message goes. Still confused... 🤔

Like I said, there is no problem without encoders.

I measured 3.30v on the teensy board,, but there is 4.41v on the brown cable, which goes to the motors, in the enclosure box. May it be cause this? Shouldn't it be also 3.30v ? 🤔

I found the problem. It's simple. The problem is because of GND. Because GND signal doesn't reach the limit switches, this error appears.

When I measure voltage at the brown and brown with white strip color in the box behind robot, which the cables and motors are connected inner, voltage is 4.06. (I think it should be 3.30v) I tried to unplug GND (brown with white) from teensy board than voltage is 0.96v. It should have been 0, shouldn't it?

And see limit switches testing. I pushed J1 button of limit switch. it turns 1 and then 0 and repeats like that. Something is wrong. I think the fail is at voltage or GND.

Normally 3.30V. But when I reboot teensy board by clicking teensy.exe it returns 3.29V. BTW, this the limit switch I use. Additionally, there isn't any voltage at the limit switches when the motors not powered. There is voltage (but not 3.3v) only when the motors enabled.

When the switch is made 1.03 volt returns, but when its not made then returns 0. I didn't understand why returns1.03 despite 3.3v. 🙄

Thanks.

I solved. Write COM to the Robot IP/COM: field and "your com port number" to the Robot Port: field. Don't use baud.

Hi everyone. This is my custom robot that I made it move by using AR4 software. I am still working on it. The tests are withour encoders. The next thing that I will struggle is assambling steppers with encoders and limit switches. Thanks to Chris Annin.

I use AR4 software with Teensy 4.1