Hi Chris, have you ever explored the idea of an e-stop that won't cut the power to the motors? Currently, when the e-stop is pressed, the motors lose power and the arm collapses. In most case, a few limit switches will be bent. I am wondering if it's better to stop the motors from moving but at the same time, maintain the motor positions. Thanks.

I have an AR3 built about a year ago. I noticed a lot of nosiy readings from the encoders. After I jog the robot around for a while, the control software will show 'inconsistent encoder value error' and the encoder values drift slightly from time to time. Could this be a shielding problem? I am using unshielded CAT6 cables connecting the robot to the control box and the cables inside the control box are also unshielded. Thanks.