I am really enjoying working with the MX106T and would like to thank Robotis and it's amazing support team.
I have a question regarding the MX106T motor(Protocol 1.0). Currently I am trying to test the motor's Maximum Torque and I ran into a problem. The motor stalls at 0.7 Amps. I think I might be doing something wrong
I am currently testing by using the tutorials in the e-manual. My setup is:
-Laboratory Power Supply (0-36V, 0-10A)
-The motor is tested with the ROS workbench package.
Could anyone suggest a solution for this issue? Thank you!
Thank you for your inquiry and feedback about our service.
First of all, could you share us more information about your test environment and DYNAMIXEL firmware version, EEPROM settings, 4 digit QC number.
Also, when the horn stalls at 0.7A, did you get shutdown error and the led blinked?
If possible, please try testing with DYNAMIXEL Wizard 2.0 + U2D2 or USB2Dynamixel.
Thanks for the quick response . The EEPROM settings are :
CW_Angle_Limit: 1 <<--- Also tested with wheel mode (0)
CCW_Angle_Limit: 4095 <<-- Also tested with wheel mode (0)
QC number is 1823.
The error im recieving is : "[ERROR] [1573041127.703534262]: [RxPacketError] Overload error!" and the Led on the motor is blinking red.
I'am using Protocol 1, Firmware Version 40
can u please share me the program through which you are calculating torque.
Your setting seems fine to me.
The overload error could occur under various conditions.
Based on my test with identical setting MX-106T with Firmware v41, but setting Torque Limit to 500(about 50% of Maximum).
When I stalled the horn, the current reading from my power supply easily reached up to 1.2A at 12.0V.
I'd recommend to send the module to our engineers via Repair Center and have them go through an inspection to see if all components are normal and not damaged.
Thank you very much.