Reply To: Potential solutions for V2 Joint 4 Elbow rotate over-heating2018-10-24T13:31:53+00:00

Forums Niryo One Troubleshooting Potential solutions for V2 Joint 4 Elbow rotate over-heating Reply To: Potential solutions for V2 Joint 4 Elbow rotate over-heating

FindingNiryo
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Post count: 44

Confirmed: DXL430-W250 Joint #4 (elbow rotate) continues to apply power without moving joint (causing over-heat) .

After move request from NiryoOne Studio Dynamixel stops short of goal (as reported here:  NiryoOne V2 Dynamixel xl430-w250 not reaching goal position)

Voltage applied to the motor is proportional to the distance from target angle; measured approximately 46 V/radian.

The joint stops moving typically (0.033 radians offset from goal) with 1.5 volts still being applied to the motor.

Modifying the Dynamixel PID parameters should allow XL430 to reach goal position and stop over-heating without motion.