Forums › Niryo One › Troubleshooting › NiryoOne V2 Dynamixel xl430-w250 not reaching goal position › Reply To: NiryoOne V2 Dynamixel xl430-w250 not reaching goal position
There seems to be a dead band where Dynamixel joints will not move unless target is at least 0.015 radians offset from current position.
The only parameter that corresponds to this behavior is: Moving (122)
Moving Threshold(24) Default values of 10 units .088 degrees per second comes out to 0.015344 radians.
The documentation indicates this will not trip while seeking goal, but it’s a suspicious coincidence.
The other possibility is that that the I component of PID is not allowing the motor to settle on small offsets.
Where are Dynamixel parameters (mode, min/max velocity,Moving Threshold(24), PID, etc.) set?