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POST No. 2407649
MX-106T Stall torque
2019-11-05 18:50:40 robosyn

Hello, 


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:

-OpenCr board

-Laboratory Power Supply (0-36V, 0-10A)

-Dynamixel MX106T

-The motor is tested with the ROS workbench package.


Could anyone suggest a solution for this issue? Thank you!

2019-11-05 18:50:40
robosyn
2019-11-06 14:05:11 Will Son

Hi,


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.

Thank you.

2019-11-06 14:05:11
willson
2019-11-06 22:33:17 Claudiu Popa

Hi, 


Thanks for the quick response . The EEPROM settings are :

ID: 2

CW_Angle_Limit: 1   <<--- Also tested with wheel mode (0)

CCW_Angle_Limit: 4095 <<-- Also tested with wheel mode (0)

Max_Torque: 1023


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 


2019-11-06 22:33:17
robosyn
2019-11-06 23:24:38 Claudiu Popa


 

2019-11-06 23:24:38
robosyn
2019-11-14 15:43:24 ravindra singh bisht

hey Brother(robosyn),

can u please share me the program through which you are calculating torque.

2019-11-14 15:43:24
rsbisht
2019-11-15 09:41:59 Will Son

@robosyn,


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.

2019-11-15 09:41:59
willson
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