= WAM Puck Replacement = Motor controllers can fail for a variety of reasons: * Electrical damage due to a failure to E-STOP then shut off the WAM before adding/removing components (wrist, BHand, etc) * Overheating due to exceeding the max payload or driving BHand motors too hard (each puck has a temperature sensor, please monitor it) * Manufacturing defects (either during Barrett's assembly or our supply chain) Video tutorials on Puck replacements are here: [[https://web.barrett.com/support/WAM_VideoSupport/Puck_Replacements/| Videos]]