Gentlemen, I have the drives all working. I cannot get joint_2 to move. The control will not send any commands to the axis drive. I have looked for changes/errors. I did not change anything regarding joint_2 while working with the non-functioning drives. I have swapped drives between joint_1 and joint_2 with the result of joint_1 functioning and joint_2 non-functioning before and after the swaps. I did a 'git pull' and saw the update did not get the genserkins.c. I then realized I lost the joint_2 functionality after a prior git pull. I think the problem may involve the generskins modification that was made during the initial configuration. What was the reason for the change? Was it because the carried arm (forearm) does not change orientation to the base during motion of the carrying arm (upper arm). I will be comparing genserkins.c files to try to figure this out. A gentle nudge in the direction of a solution will be greatly appreciated. :) thanks Stuart
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