2021-09-09 10:07:44 2408057
Problem Description:
Model: XH430-V350-R
Operation: position mode, other parameters are defaulted. Under load, there is a problem that it cannot be rotated to a fixed angle (for example: the target angle of sending 2048 is 180.04 degrees, but the actual rotation is 178.81 degrees, the steering gear will stop. The difference is 1.27 degrees (not within the normal range). At this time, (123: Moving Status is also not set to one). In this case, will the internal current of the steering gear increase to increase the torque to make the steering gear reach the target position? What is the cause of this situation? Is there a solution?
It is worth noting that: In this case, we gently dial the steering gear, the steering gear returns to the target angle, 123: Moving Status is set at this time).
thanks again
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2021-09-09 10:07:44 |
| 2408057 | |
2021-09-23 16:36:23 Will Son
Hi,
Thank you for your inquiry and sorry about the delayed response.
Since DYNAMIXEL uses PID position controller, you may try optimizing the PID position gains.
For example, DYNAMIXEL may not reach to the Goal Position when it is loaded with a moderate torque.
Increasing P gain to generate more torque near the Goal Position and use D gain to stabilize the oscillation, and finally use I gain to minimize the difference between Goal Position and Present Position.
Please note that the "Moving" will be set to 0 when DYNAMIXEL is moving slower than the Moving Threshold.
Please refer to eManual for more details.
https://emanual.robotis.com/docs/en/dxl/x/xh430-v350/#moving-threshold24
Thanks!
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2021-09-23 16:36:23 |
| willson | |
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故障图片.png