Help!! broken AX-12

[Ess]

I was working with my bot and suddenly it made a wrong movement and it hit and make torque, i heard three "clicks".

After some test i realized that the AX-12 was positioning incorrectly about 5º.

I think that the gears have been forced.

Someone knows how i can fix it?? HELP ME!!!!!

[Bullit]

Sounds like you have stripped a gear. You will likely need a new gear set.
The best way to tell is power off the servo for a little while and then rotate the servo horn by hand. If you feel it get stuck or click when its in one position then the gear is broken.

[Ess]

I think the gear is ok.

Before posting it i tried what you said, in all range the movement, the sound and the feel it´s ok. So i think that it affects to the potentiometer encoder, like the gear sliped with another one.

I dont know how the AX-12 looks like inside. Anyone have photos or know about how easy is to open and change the gears???

[Ess]

After checking again, now the AX-12 is positioning ok.

But i have a great problem. I´m working with c programming, and while the robot arm is working, suddenly in some AX-12 it lose all torque and all ligths of the CM-5 are on.

I´m working with this arm for the last 2 months an never happend, but now it happens quite often.

someone have any idea??

Thanks!!!

[Suicidal.Banana]

Might be related to the 'c programming', i dont know if you use any of the public bioloid librarys/templates or that you have made your own, but recentlly i read about one that it sometimes just randomly moves servos. (sadlly i forgot wich it was)
So, wich lib do you use?

[Ess]

I start with the example.c of robotis and the HaViMo´s example.

I think that the problem is with a function that waits till all AX-12 are stopped. I don´t remenber if i modify it, but now quite often it crash.

I´m working now with it, this is how it looks like:

Code: Select all

void esperaquieto(void)
{
TxDString("\r\n");   
  for(bCount = 1; bCount < 0x07; bCount++)
   {
      while(1)
            {
               gbpParameter[0] = P_MOVING; //direccion del bit de movimiento
               gbpParameter[1] = 1; //longitud de lectura
               bTxPacketLength = TxPacket(bCount,INST_READ,2);
               bRxPacketLength = RxPacket(DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1]);
               if(bRxPacketLength == DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1])
               {
                  if(gbpRxBuffer[5] == 1)
                  {
                  TxDString("\r\n AX-12 moving, id: ");   TxD8Hex(bCount);            
               
                  }   
                  else
                     {
                        TxDString("\r\n AX-12 stopped,break            ");TxD8Hex(bCount);   
                        break;   
               
                     }   
               }
            TxDString("\r\n loop                         ");   
            }
   TxDString("\r\n Next AX-12                          ");         
   }
   TxDString("\r\n End                          ");
}



Excuse my bad english!!

[Ess]

this are the results:
without error:




Now when error happens:




this is how it works(when it work ):
http://dl.getdropbox.com/u/748134/19092009.mp4

[StuartL]

You could be stalling on the power supply/battery not being able to supply enough current to run the servos and the CM-5. Try 'optimising' your power distribution throughout the robot. You want to minimise the power supply distance from each and every servo, concentrating on the high torque positions (e.g. at the bottom of the arm) first.

[Ess]

I think that´s right!!!

I´m going to test!!!

Thanks!!!

[Ess]

someone has an "wait till all stops" function??

my program blocks in this function

[arekku]

:evil:

someone has an "wait till all stops" function??

my program blocks in this function

I assume there are nEngines with ID's 1 to nEngines+1

Code: Select all

def wait_all_stops(nEngines):
   for i in range(1,nEngines+1):
      while HasStopped(i) = 0:


The implementation of the HasStopped function is left as an exercise to the reader.

[Ess]

The implementation of the HasStopped function is what i need

[arekku]

Sorry stupid of me.

See what you can do with this

Code: Select all

void Wait_All_Stop(int nEng, int tolerance = 16)
{ 
   for(int bCount = 1; bCount <nEng> tolerance);

}


[arekku]

Did it work?

[Ess]

My function worked verifying the registry "Moving", but sometimes it blocks.

I think that is a timming problem whith the comunication, but sadly now i´m a "roboteer without robot".

I was working with the University´s kit of Bioloid.
Now i finish the final Project of my studies of electronic engineer and i have no bioloid to work

Soon i´ll post the resuts of my work in the forum

Thanks to all!!!!!