by inaki » Sun May 21, 2006 1:17 pm
by inaki
Sun May 21, 2006 1:17 pm
I think that registers 26 and 27 in AX12 servos might be the way to relieve or even eliminate the whining problem by means of setting the margin error wider. The default values appear to be very tight: the manual says it is zero by default but I have found it is 1.
It can be set up to 254 so there is a big marging to play! However these numbers appear to be in units of position, so if for example you are at position 500 and want to move to position 300 the servos wont move at all if you set a marging of 200 !!!
I have tested this with success, using a setting of just 2 instead of the default 1.
The instruction in Robot Terminal to set for example margin 2 would be:
(first choose your servo ID with the command CID)
WR 26,2
or
WR 27,2
26 is the CW margin, while 27 is the CCW margin.
In all my tests the culprit of the whining noise has been always CW register and not the CCW.
Curiously you can get good results too setting these values to zero. In this case any motion would produce a short beep but then the servos keep silent.
Just try it, you don't have much to lose except the noise !
I think that registers 26 and 27 in AX12 servos might be the way to relieve or even eliminate the whining problem by means of setting the margin error wider. The default values appear to be very tight: the manual says it is zero by default but I have found it is 1.
It can be set up to 254 so there is a big marging to play! However these numbers appear to be in units of position, so if for example you are at position 500 and want to move to position 300 the servos wont move at all if you set a marging of 200 !!!
I have tested this with success, using a setting of just 2 instead of the default 1.
The instruction in Robot Terminal to set for example margin 2 would be:
(first choose your servo ID with the command CID)
WR 26,2
or
WR 27,2
26 is the CW margin, while 27 is the CCW margin.
In all my tests the culprit of the whining noise has been always CW register and not the CCW.
Curiously you can get good results too setting these values to zero. In this case any motion would produce a short beep but then the servos keep silent.
Just try it, you don't have much to lose except the noise !