Beginner - KHR-2HV Buzzing from servos

[Philly]

Hi Guys,
Just finished building my first ever Robot, the KHR-2HV. I set the Startup position tonight and I hope to have a full day setting up tomorrow.

I did notice that while he is standing there is a lot of "noise" coming from the servos. The only thing I could find in the manual that sounded remotely related was to change the ICS. I followed the manuals suggestion to change the HEAD and ARMS to 3MID but it hasn't had an affect.

I'm sure it's just a tweak somewhere, but if anyone can help I would really appreciate it.

Thank you!

p.s. Is the KHR-2HV capable of doing a head stand?

[Robo1]

Hi there

you will always get a slight buzzing noise from the servos when there under some stress. You just have to learn to live with it.

Bren

[ATOM]

True, there is some operational noise even standing in the home position. But if your home position is set properly you shouldn't have too much noise. Does it make as much noise when the servos are under a lot of stress. If so you may want to recheck your home position again. Also try picking up the robot does the noise go away? Which servos are making noise?

[Philly]

Hi Guys,
Thank you very much for your help.

It's difficult to tell which servos are making the noise. It seems to be all over. In answer to your question, it does die down a lot when I pick him up.

In the ICS section of the manual it only suggests adjusting the servos in the head and arms. Should I try adjusting them in the lower body too?

Does the ICS have an efffect on that kind of thing, is that it's main purpose?

I am new to this but I am getting the hang of the software and I admit that the Home Position should have room for improvement. I will go ahead and try adjusting it today and keep you posted on it.

Mainly I wanted to make sure that nothing was being strained and damaged. It's not a noise that I am overly worried about having heard your comments. But at the same time I couldn't remember hearing as much noise when I test drove one at RT Co. in Tokyo (though I'm sure their's are set up slightly better than mine).

Philly

[tom_chang79]

Hi Philly,

The buzzing sound is quite normal. The servos are just trying to hold position, and all servos makes a buzzing noise because the motor is constantly trying to apply [a holding] force. Assuming that there is no binding on any of the joints, the best way to "position" your robot's limbs so that the buzzing is minimal (as you noticed when you picked up your bot, which reduces the load of the servos at the legs):

1. Hold the bot up while the power is off

2. Position it to "stand" so that it needs minimal support from your hand from collapsing, preferrably without having to hold it.

For ex. on my Bioloid (humanoid), I can position its legs to stand, while the servos are powered off, and it can stand there forever. I then power the servo up and capture the servo position. If it can stand with the servo powered off, the servos should see minimal load when the power is applied...

[Philly]

Thanks Tom,

I get it. I haven't learnt how to capture yet but I will make it my next project. I know I can make it stand alone whilst the power is off.

Does anyone know how I would disable the start up motion already programmed to it? If I position it and then turn it on it is just going to snap to it's home position.
In the meantime I will try to work it out for myself.

Thanks to everyone so far for the great advice....!