2006-Sep-25 wt

The videos in this directory (001-009) show how to remove the encoder wheel for J4 and then replace it and replace the puck.
The last video (009) shows how to replace new Nylon cable ties to secure the wires after you have installed the new Puck.

FIRMWARE PARAMETERs
Your PuckID# was set to another axis before shipment because we suspected a different motor initially.
All firmware parameters EXCEPT for the PuckID# can be set via the CANbus.  
However, the initial PuckID# must be set by the serial cable that comes with your maintenance kit.
Follow the videos (001-003) at
http://web.barrett.com/cable/SettingPuckParametersViaSerialCable/
to set the PuckID# and other parameters for M4.
Finally, you will need to reset the Motor Offset parameter according to instructions that Brian Zenowich emailed last week.