Joint 4 – Elbow rotate V2 error 4 with no way to reset2018-10-10T17:13:55+00:00

Forums Niryo One Troubleshooting Joint 4 – Elbow rotate V2 error 4 with no way to reset

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  • FindingNiryo
    Participant
    Post count: 47

    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.

    Edouard Renard
    Keymaster
    Post count: 122

    This has been fixed and explained here.

    FindingNiryo
    Participant
    Post count: 47

    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.

    Edouard Renard
    Keymaster
    Post count: 122

    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.

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