have a restriction with the movement of J4, when I go to -86, the cable hits the pulley and a collision is detected. I have checked my installation and everything looks according to the manual, I can't find what the problem is but I still have a long way to go to reach the movement limit, which is 164. To solve the problem temporarily, I limited the movement in the calibration box to -86.55 and step limit to 3300
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https://anninrobotics.com/wp-content/uploads/2025/08/I-have-a-problem-with-the-j4-joint-.avif
https://anninrobotics.com/wp-content/uploads/2025/08/I-have-a-problem-with-the-j4-joint-_2.avif
Original values to j4
https://anninrobotics.com/wp-content/uploads/2025/08/I-have-a-problem-with-the-j4-joint-_3.avif
I couldn't quite tell from the post, is it pulling the cable pretty tight? It sounds like overcurrent, does the J4 stepper driver have a blinking red light when it happens? If so, it'd be a pain, but replacing that cable with one six inches longer might be the easiest path to take. Could try taking ohmmeter readings of both phases to make sure the impedance isn't getting too high, but it only sounds like an issue at that one angle.
