Reply To: NiryoOne V2 Dynamixel xl430-w250 not reaching goal position2018-10-23T16:27:26+00:00

Forums Niryo One Troubleshooting NiryoOne V2 Dynamixel xl430-w250 not reaching goal position Reply To: NiryoOne V2 Dynamixel xl430-w250 not reaching goal position

FindingNiryo
Participant
Post count: 44

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)

http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.htm#bookmark31

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?