Puma 6 axis Robotic Arm with Mesa 7i80/7i40

Good point.. I've set all of the axes to 9.5 but it didn't resolve my issue.

 

I attached a digital angle finder to the axes, moved it a specific amount (45 degrees), calculated how many encoder steps were read, divided by the number of degrees and entered that number into the joint config in the ini under encoder scale.   The numbers I entered were only a couple encoder ticks off from what was already there.

Is there some other spot to enter the encoder resolution/scale/ppr?

I am unable to find any documentation whatsoever on the specs for the encoders: Tamagawa TS1902N117 or TS3083

I am also considering swapping 2 of the joint connections to see if the issue follows the daughtercard.
 

Do you get overcurrents on the 7I40 (red LEDs blinking)?
Also are the 7I40 current limits set to the high range?

Good thought.  I'll check tonight - I sort of made an assumption that the previous owner checked that, but that's probably not a safe assumption.

I checked the jumpers, they were all set to Low (default)  I set the jumper to high and it didn’t make any difference.  

There are no red lights, just green and amber.  

I was told by the previous owner that half of two of the 7i40s don’t work.  This joint is on the working half of one if those cards.  I’m wondering if there might be more wrong with that card than I originally thought.   

The next test I guess is to swap two joints.