...
POST No. 2407250
Unexpected DXL Pro shutdown
2019-01-09 20:03:35 jmunnae

Hi,

 

With regard to our previous unsolved questions in the post no. 2407190 (Can't read shutdown (892) - DXL Pro), it seems the problems are going worst and we do not know what are the real problems because we can't read neither address 892 nor 48 while the unexpected shutdown occured. Just in case you haven't seen our reply to your questions, let me summarize the problems again. 

 

We encountered the unexpected shutdown (so far) in 2 cases as the following

1. When we try to tune the PI gain of either position and velocity control. We understand that the motor will eventually shutdown at some points but it would be nice to be able to read the shutdown error to understand why the motor shutdown.

2. When we are in the torque mode and we keep increasing or decreasing the commanded current just to find the minimum commanded current so the joints start moving at a random configuration (we build a 6DOF robot arm using the Pro series). When we do this type of experiment, we only change the mode of operation to the 'torque mode' of a joint at a time. For example, if we want to test joint 5th, we only commanded joint 5th to torque mode while other 5 joints are in position mode. Then we keep increasing the commanded current of joint 5th to see when the joint 5th will start moving. The strange things occur randomly such as sometimes joint 5th is shutdown. Or sometimes other joint (which is in position mode) is shutdown while the 5th joint can still operate fine. When the motors are unexpectedly shutdown we can't do anything. We can't ping to the shutdown joint so we can't read the shutdown error (48). 

 

We're using Dynamixel SDK version  3.6.2 (2018-07-17) and ROS Kinetic 16.04 LTS. 

We only use connector 485 to USB directly connect to a PC running on Ubantu 16.04 LTS.

 

I attached our read, write, and ping functions.


Please see the following for our motor setting.

 

MODEL_NUMBER : 54024

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 1

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : 924

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 17000

MAX_POSITION_LIMIT : 146394

MIN_POSITION_LIMIT : -146394

SHUTDOWN : 58

 

MODEL_NUMBER : 54024

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 2

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : -23052

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 17000

MAX_POSITION_LIMIT : 87069

MIN_POSITION_LIMIT : -89230

SHUTDOWN : 58

 

MODEL_NUMBER : 53768

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 3

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : -22289

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 17000

MAX_POSITION_LIMIT : 101994

MIN_POSITION_LIMIT : -271874

SHUTDOWN : 58

 

MODEL_NUMBER : 53768

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 4

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : -220

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 17000

MAX_POSITION_LIMIT : 501923

MIN_POSITION_LIMIT : -160336

SHUTDOWN : 58

 

MODEL_NUMBER : 51200

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 5

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : -76555

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 10300

MAX_POSITION_LIMIT : 21754

MIN_POSITION_LIMIT : -176343

SHUTDOWN : 58

 

MODEL_NUMBER : 51200

MODEL_INFORMATION : 0

FIRMWARE_VERSION : 25

ID : 6

BAUD_RATE : 5

RETURN_DELAY_TIME : 250

OPERATING_MODE : 1

HOMING_OFFSET : -224

MOVING_THRESHOLD : 50

TEMPERATURE_LIMIT : 80

MAX_VOLTAGE_LIMIT : 400

MIN_VOLTAGE_LIMIT : 150

ACCELERATION_LIMIT : 255

TORQUE_LIMIT : 900

VELOCITY_LIMIT : 10300

MAX_POSITION_LIMIT : 151875

MIN_POSITION_LIMIT : -151875

SHUTDOWN : 58

 

I would be deeply appreciated if you could give us some suggestion. We need to solve this issue in order to further develop a control algorithm so that our robot arm can be dragged to teach while motors are enable.

 

question_03.png
question_04.png
question_05.png

2019-01-09 20:03:35
jmunnae
2019-01-15 06:07:02 Will Son

Hi,


I'm sorry for the delayed response due to business trip.

And thank you for reminding me of the issue.

I'll review your reply and get back to you as soon as possible.

Thank you for your patience.


===========Edited===========

I've posted reply to the previous inquiry as this thread doesn't show the attached images correctly.

http://en.robotis.com/service/forum_view.php?bbs_no=2407190&page=6&save_sca=&sca=&save_stx=&stx=&sfl=

Thank you.

2019-01-15 06:07:02
willson
Reply
웹에디터 시작 웹 에디터 끝