Forums › Niryo One › Troubleshooting › Joint 4 – Elbow rotate V2 error 4 with no way to reset
Tagged: by-pass, Dynamixel XL-430, reset, shut down
Some moves in Niryo One Studio cause Joint 4 – Elbow rotate in NiryoOneV2 to abort move.
Dynamixel status indicator blinks red and while the joint continues to update it’s position,
it is effectively in learn mode (no torque) and will take no further commands.
HARDWARE STATUS reports Error code 4 which may correspond with
Dynamixel Status Packet Bit 2 Overheating Error (default value is 71 about [℃]) though temp reports 44
Moving joints, toggling learn mode, forcing manual or auto calibration do not reset the servo.
This has been fixed and explained here.
Running the robot with reduced voltage and/or low duty cycle in cool environments reduces the chance of tripping the temperature shut down. But it is essential for remote operation to be able to reset the condition without requiring hands-on power cycling the robot.
If recent addition of direct Dynamixel messages provides the ability to reset thermal shutdown please provide example code.
The recent addition to directly send custom values to Dxl motors doesn’t handle the software reboot of the motor. (that’s a different kind of instruction)
We’ve tested with 11.1V power supply and even after one hour of continuous movement (environment temperature: about 25°C), the temperature of the motor doesn’t reach the limit.
So, while we are receiving the new power adapter (it’s taking some time from our supplier), if you can reduce the voltage a little bit, things should work better.
If after using 11.1V it still doesn’t work then I’ll add a new feature into our backlog, so you can reboot (from software) a Dynamixel motor.
Is Dynamixel motor software reset in an upcoming release?
Do you mean resetting the params to factory default, or rebooting the software ?
In any of those case, for now it’s not implemented. Also, from the procotol 2.0 page for Dxl, the “register write”, “reboot” and “factory reset” are 3 different functions. So we won’t be able to add the reboot and reset functions at runtime with the current configuration.
If we add them, it’d be in the niryo_one_debug_package, with the dxl_debug_tools functionality.
Let me know if that would be useful for you, so I can add that in our feature backlog!
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