I am using MX-64 for my gripper application.
It is set to perform in Current based Position Control Mode and I am taking the current feedback to sense whether the object is grabbed or not.
The Present Current value is 0 when no object is grabbed and above 65000 when any object is grabbed.
However sometimes I am getting the Present current value greater than 65000 when the object is not grabbed properly which leads to slippage of the object.
In my code I am tapping the Present current and I am stopping the motion of the gripper if the Present Current value is greater than 50000.
If I try to set the Current Value greater than 50000 then I am able to grab the object firmly but after 2-3 seconds I am getting the Hardware Error because the Present Current value raises from 0 to >65000 in few milliseconds.
I have set the Current Limit to the Max value using the wizard.
I have enabled all the protections in Shutdown of the actuator.
How to solve this issue and What is the Max current MX-64 can take while grabbing a object firmly without giving Hardware Error.
Your suggestions are most welcome.
The Present Current is a 2 byte signed integer value and you need to use signed integer instead of unsigned variable.
The R+Manager 2.0 has a bug that uses unsigned variable for Present Current value.
I am using int32_t for Present_current.
The Present Current(126) for MX-64(Protocol 2.0) is a 2 byte data.
Please try using int16_t to correctly dispaly negative value.
I tried using int16_t for Present_current However it is grabbing tight and after few seconds it is giving Hardware Error.
I am unable to proceed further until this issue is resolved.
?Kindly support in resolving this issue at the earliest.
The maximum current limit for MX-64 series is 1941.
Since your threshold is set to 50000, it'll output 100% until overload occurs.
Please start with a lower value something like 100 and increase it as you wish.
My Moving Threshold is 10 by default and I have not changed it anytime.
Does changing my threshold will have effect on my gripper force?
Is it going to help in gripping a object firmly without giving Hardware Error?
What I meant was the Present Current value threshold you set in your program.
In the original post you said "If I try to set the Current Value greater than 50000 then I am able to grab the object firmly but after 2-3 seconds"
So I'm recommending to use smaller value for the threshold of Present Current in your program.
Moving Threshold does not have to do with this issue.