Hi Ryan,
Thanks for your help. Setting the position of home to (250,0,0,0) did stop the issue of it trying to drive past its vertical limit when pressing the home button.
But this didn’t fix the actual problem of the back arm trying to go past the vertical physical limit (say when pressing J2-). However I have since worked out how to fix this problem. Initially I didn’t realise the position of the arms was initialised by an angle sensing devices in the arms themselves. Knowing that the stepper motors had no absolute position measuring device I thought it would drive to a limit switch to find the home position and initialise from there, I found this out by accident when I accidental moved the device while the homing process was executing and I then realised that if you leaned the robot over while homing it would adjust the arm to stay at the same angle relative to gravity. Once I had worked this out, I then went searching for settings and found Settings:-> Sensor and Base:-> Rear Arm Angle Sensor Zero Error.
After playing with this setting, I found setting this to a large negative value stopped it trying to drive past its vertical physical end stop. Ultimately I adjusted the value so that when the rear arm was exactly vertical the angle sensor measured exactly 0 degrees. NB: For me I had to set this to -11.86, but this probably varies from machine to machine.
Now if I manually drive the rear arm up (with J2-) it will stop on a soft limit of -5 degrees which is before it physically runs out of travel. Problem fixed.
On the account issue I haven’t had a change to send that email yet. Once I got past the end stop issue I wasn’t so concerned about the issue of trying to get the latest version of software.
I hope this information helps other people that run into the same issue.
