old RCB4 can't control expansion servos

[limor]

We are usually the experts but this time there's a problem we can't figure out a workaround.
We have two KHR3 robots; one is new, the other old.
Both have RCB4 with identical markings on the PCB.

It turns out that the old RCB4 can't control the following servo IDs : 0, 3, 5, 11-17
It can only control standard KHR3 servo IDs
(the new robot's RCB4 has no problems controlling servos with IDs in the "expansion" range listed above)

So we can not use this RCB4 with any expansion servos.

Any ideas/help will be appreciated.


Limor

[Novice]

We are usually the experts but this time there's a problem we can't figure out a workaround.
We have two KHR3 robots; one is new, the other old.
Both have RCB4 with identical markings on the PCB.

It turns out that the old RCB4 can't control the following servo IDs : 0, 3, 5, 11-17
It can only control standard KHR3 servo IDs
(the new robot's RCB4 has no problems controlling servos with IDs in the "expansion" range listed above)

So we can not use this RCB4 with any expansion servos.

Any ideas/help will be appreciated.


Limor

Hello,
I offer to send the PCB back to Kondo, course it looks like the firmware's bug.
Some time ago I sent them my exploded RCB-4 and when I got the repaired one back from the Kondo I could not save any data in the ROM,other words I can't use our remote etc. That's why I'm accepting they could do some mistakes.
If you have a possibility to read a data from the controller's memory by some external programmer, try to check the control sum beginning from the address FFFFF till 0FFFF of the internal ROM of M16 and compare it to the data's of the good one.If you got some differents lets send it back to Kondo to rewrite a firmware))
Regards

[wyl]

Hi Novice,
I have the same problems(cannot drive the extra 5 DOFs).
Could you please teach me how to confirm which one RCB-4 is new ? which one is old ?

Thanks,

[PedroR]

Just a quick stop to share an update on our solution:

In the end we used a tool to reset the expansions ervos IDs to numbers above 25.

If I recall correctly this was the solution that worked for us (setting the servo IDs to numbers that were unrelated to the expansion set).

Another thing that you must check is if all servos are configured to operate at the same Baud Rate.
There is a tool called ICS Manager 3.5 that you can use to connect the servo directly to the PC.

You can use it to fine tune servo parameters including confirming and resetting the ID as well as confirming the Baud rate.


Regards
Pedro