Please help, all 6 servos are only adressable by ID 254 which is reserved to refer to all servos connected to the data line regardless of their ID. None of the 6 respond to ID 1,2,3, or 4 despite the fact that one was out of the box and should have the default ID of 1, and the servos in the arm should still be programmed to have ID 1,2,3,4. I also never remember having a program set the ID to anything outside of 1-4.

Try the simplest case, disconnect all but one servo and try it.

 

UPDATE:

i re assigned every servo ID in the arm and re soldered a questionable connection and it seems to work fine now. i will continue to try to implement the other write functions although it may be challenging. I am still waiting on the debugging board i ordered to get here.

However, I am now realizing the stepper motors for the bottom 3 axes that I chose do not currently have enough torque. they also only have limit switches for position feedback which is not great when they seem to be prone to skipping steps. In particular, motors 1 and 3 seem to struggle a bit, and this has been made a bit worse by me implementing microstepping for more precision to divide each step into 4.


I am planning to add a gear reduction ratio on motors 1 and 3, and/or replace them with 35 kgcm bus servos, as the steppers have about 18kgcm torque.

 

Try the simplest case, disconnect all but one servo and try it.

Yeah that is what I was doing and it still wasnt working, however re assigning the IDs and re soldering this questionable wire and replacing some connectors and the buck board seemed to fix it.

 

Okay update: stepper motor 1 is actually fine i just had to replace a broken 3d printed shaft coupler with a redesigned one that uses m4 set screws instead of m3 set screws that were too small. It appeared that the motor was having issues when it was really the shaft coupler.

Stepper motor 3 though still struggles to meet the torque requirements, even with microstepping turned off. I will need to redesign that part.

 

I made a whole assembly to include a belt reduction ratio of 5.76 : 1 which should be more than enough torque. I have some 6mm wide 200mm diameter GT2 timing belts reinforced with fiberglass, however a few of the fiberglass strands are coming out because I previously tensioned them a bit much when I was using them for something else.

Here, the belts are being used pretty close to their max torque spec and I am worried that since they are already potentially damaged, they may slip and have issues. Where can I get the strongest 200mm GT2 timing belt and what are people's reccomendations here? Thank you!