TomGeorge:
I wonder if the old remote loaded parameters to the robot on startup. this included step sizes for the drive motor encoders, or are the motors stepper units?
The robot consists of hydraulic motors. With stepper motors it would be too easy 
TomGeorge:
I wonder if the old remote loaded parameters to the robot on startup. this included step sizes for the drive motor encoders, or are the motors stepper units?
The robot consists of hydraulic motors. With stepper motors it would be too easy