omg i think i figured out what's wrong

it's not throwing errors for servos 1 and 2 of the robot, it's referring to the two motors that are not connected, they were part of the assembly line.  We actually have the controllers for both, they were in that huge metal box I put on the curb (after taking them out) but we only have one of the motors and anyway...

on page 28 of http://servo-repair.com/documents/yaskawa/CACR-SR.pdf
(labeled page 23 in the document) it shows the pins of the connector for the errors we're getting.

I think if i short the right pins on the connectors, the errors will go away and it will think the two missing servo controllers are happy, even though we don't actually want to hook them up to anything.

unfortunately, reconfiguring the ERC controller to know that it doesn't have two extra motors would require changing the EPROM, and even if we had a ROM burner handy I wouldn't know what to change.

Does anyone want to play with the robot arm?

-jake
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