New Cards

We received two new servo cards, which made it possible to get the arm moving and mostly working again. However these cards don't seem to be functioning quite properly. When ever you move a joint that is controlled by one of them, the joint will oscillate about the point it was supposed to finish at. This behavior seems to mean that the cards are not quite compatible with the controller we have. Unfortunately the new cards did not fix the problem with the zero index not being found on joint 1. I've begun testing the wires in order to make sure that there is no problem there but if its not the encoder, card or the wires I really have no idea what else could be wrong.

Repaired! and then it broke....

A lot of progress has been made since did my last post. The software was not the issue unfortunately, however the memory card was. Once the memory card was replaced, the system was able to load the software and initialize. After initializing the system, I was able to get all 6 joints of the robot to move. After playing around with the robot in teach mode for a little bit I tried to calibrate to system. When calibrating the system the 1st joint was unable to find the zero point. In order to troubleshoot this i first switched two encoders how ever the problem stay at the 1st joint so that meant the problem was most likely in the servo card. While swapping two of the servo cards one of the previously working cards broke. Once the card broke there was nothing more to be done until it is replaced. Hopefully once these cards are replaced everything will work and I can start learning how to program it.