I am able to jog the robot, calibrate to rest position. however, I continue to get collision or out of calibration warnings when I get to J4. Then after I calibrate to rest, and auto calibrate, I run home and rest programs. After the second round when I run the home or rest program the arm begins to collapse somewhat slowly under power either in positive or negative direction. I respond by hitting the emergency shut off switch and then catch the arm.

I noticed that the actual position of the rest program changes pretty drastically. Some programs can loop for example if I only move J1 or J2. However, other programs can not run properly because of the collision or calibration warnings.

The current location registered in ARCS for some of the joints does not seem to be changing perhaps due to the warnings.

I reinstalled all of the encoders and made sure the sleeves are correctly installed. I rechecked all the wiring.

Any ideas on what I am doing wrong? Thank you again so much for your help! I certainly appreciate it.