We currently are in the process of replacing a wrist 2 with a wrist 1 unit. We are change Joint ID per instructions. When going into Low Level Control, we are able to power the joints; but, unable to get the popup to show ‘Go to Idle’. Note, the system is a 3.1 firmware. We have disconnected the J4 (communication wiring - black and white cable) to prevent reading both joints. I appreciate the help and support.
I’m not entirely sure if you have already changed the joint ID or not?
If you have not done it already, it’s often easier to disconnect all other joints except for the one which needs a new ID. Then you go to Bootloader (don’t have to go to Idle as far as I remember), and then you change the ID.
If you are replacing a J4 (wrist 2) with a J3 (wrist 1), you have to remove the communication to both J4 and J3 of the robot. If you do not do this, the robot won’t boot since it sees two J3s.
You say firmware is 3.1? Is PolyScope version 3.1 or is the robot CB3.1?