Gentlemen, Update on the robot. I found the problem with the hard drive. I replaced the hard drive with a new sata. I connected a CD reader using the ide adapter. I tried to load the new hard drive without mounting it into the cabinet. Bad move, the hard drive vibrated off the shelf and hit the floor. 0 joy - I was allowed to purchase another new hard drive. AFTER MOUNTING THE HARD DRIVE INTO THE CABINET I worked all day to try to recognize the new hard drive and the cd reader. It was hit and miss all day. I swapped cables back and forth. This evening I finally replaced the sata cables. NO MORE PROBLEMS. I installed the old hard drive and now the robot is running with the old hard drive. I can move al three joints although there is one problem. The waist (X) growls, jumps a little and gives a following error when trying to home. The waist will jog slowly toward the home position but will not jog away. If I try to jog fast I get the growl, jitter and error. This is my first foray into the world of steppers. All suggestions will be appreciated. thanks Stuart
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