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ok, that went better than expected.

now I need to figure out which one of the two spares I have is the working unit, and which is the very non-working one.

the story: when I originally bought the robot, it came with one of the servo drive channels broken, reporting “torque limit exceeded” on its axis. it was, in fact, a faulty current transducer reporting exaggerated current readings. I bought two more of pm6-600, “condition unknown”, for cheap. then turned three broken units into two working and one very, very broken.