Resolving servos shutdown of the DARwIn OP
Resolving servos shutdown of the DARwIn OP
by cohenguy1
Thu May 03, 2012 11:17 am
Hi,
We've encountered a problem with the servos of the darwin when we operated our program:
When operating our project on the robot, we saw that its knees servos are collapsing. They collapse randomly and it can take between 1-5 minutes of work to reproduce. If they don't collapse after 3 minutes, it could operate indefinitely.
The problem is caused from the torque limits of the servos.
The way to solve this issue is:
cd /darwin/Linux/project/dxl_monitor/
./dxl_monitor
id NUM_OF_SERVO (for instance 13 for the right knee)
wr 18 4 (18=port of alarm shutdown)
and do it for every servo that is collapsing (not due to overheat)
We've encountered a problem with the servos of the darwin when we operated our program:
When operating our project on the robot, we saw that its knees servos are collapsing. They collapse randomly and it can take between 1-5 minutes of work to reproduce. If they don't collapse after 3 minutes, it could operate indefinitely.
The problem is caused from the torque limits of the servos.
The way to solve this issue is:
cd /darwin/Linux/project/dxl_monitor/
./dxl_monitor
id NUM_OF_SERVO (for instance 13 for the right knee)
wr 18 4 (18=port of alarm shutdown)
and do it for every servo that is collapsing (not due to overheat)
