Robotis EX 106+ Problems
Robotis EX 106+ Problems
by memogrr18
Thu Aug 26, 2010 5:58 am
Hi all. I just bought 3 robotis ex 106 + for a Delta Robot. First, one servo suddenly locked. i oppened it and found out that two gears were contacting and locked the geartrain. I managed to unlock them but it was useless because the motor got stucked.
I changed the servo for an ex 106 (not plus) and kept working but suddenly after 30 minutes another ex 106+ failed by getting an offset angle of like 5 degrees. Even with the dynamixel manager.
i unplugged and plugged the servo wire and the problem solved: the servo went back to the correct position. Now we will prevent this problem by restarting the servos periodically. =S
Has anyone noticed about this last problem?
I changed the servo for an ex 106 (not plus) and kept working but suddenly after 30 minutes another ex 106+ failed by getting an offset angle of like 5 degrees. Even with the dynamixel manager.
i unplugged and plugged the servo wire and the problem solved: the servo went back to the correct position. Now we will prevent this problem by restarting the servos periodically. =S
Has anyone noticed about this last problem?
by memogrr18
Fri Aug 27, 2010 6:24 am
Tyberius wrote:Honestly sounds like manufacturing defects, I've dealt with a lot of EX-106+'s and haven't run into either issue though. I would suggest you contact whoever you bought them from and get an RMA issued.
yes. i had worked with ex 106 before and never had a problem... the problem of the gears is manufacturing defect. i will try to explain what happened: i used the robotis extra bearing ( for axial force). When installed, that bearing pulled the last gear outside ( maybe because the machined case had the inside bearing holder deeper) so after a couple hours (the power supply was unusually hot) that gear crashed with the third last gear and the geartrain locked.
It was impossible to move the 12 in arm connected to that servo. When i pushed the last gear back (it clicked), the geartrain unlocked but servo remained hard because the motor also locked...
About the other problem i have no idea... first i thought that ex106 used an optical encoder and when turned on, the microcontroller read all position bits and from there it would use a counter in the least significant bit to keep and change the position. then maybe the noise made the counter count less or more. So when reestarted, servo would read the whole position again. but then i noticed that a magnetic encoder was used so i am clueless about the problem,,, maybe the encoder sensor is wrong...
or there is an unusual magnetic field...
I will send the damaged servo to robotis. i bougth it from trossen. or maybe contact trossen robotics. i don't know.