Hey everyone - I just posted a beta version of software version 5.0. In this latest version I have updated the kinematics. The new firmware has improved control and should better handle movements around robot singularities when the wrist (J5) crosses over zero degrees. Please give this new version a try and let me know if you find any issues I may have missed. Remember you need to install the ver 5.0 sketch and use the ver 5.0 exe file.