I started putting together the AR4 and noticed what seems like a fair amount of play in J2. I think this is from the gears being unloaded or slop in the keyway? I just wanted to see if this amount of play was normal before I continue with the build.
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The J2 planetary gear box does list a backlash of 25arcmin in product spec sheet. With the motors powered on and the arm in compression or carrying a load the backlash is not an issue.