Resolving servos shutdown of the DARwIn OP

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Resolving servos shutdown of the DARwIn OP

Post by cohenguy1 » Thu May 03, 2012 11:17 am

Post by cohenguy1
Thu May 03, 2012 11:17 am

Hi,

We've encountered a problem with the servos of the darwin when we operated our program:

When operating our project on the robot, we saw that its knees servos are collapsing. They collapse randomly and it can take between 1-5 minutes of work to reproduce. If they don't collapse after 3 minutes, it could operate indefinitely.

The problem is caused from the torque limits of the servos.
The way to solve this issue is:
cd /darwin/Linux/project/dxl_monitor/
./dxl_monitor
id NUM_OF_SERVO (for instance 13 for the right knee)
wr 18 4 (18=port of alarm shutdown)

and do it for every servo that is collapsing (not due to overheat)
Hi,

We've encountered a problem with the servos of the darwin when we operated our program:

When operating our project on the robot, we saw that its knees servos are collapsing. They collapse randomly and it can take between 1-5 minutes of work to reproduce. If they don't collapse after 3 minutes, it could operate indefinitely.

The problem is caused from the torque limits of the servos.
The way to solve this issue is:
cd /darwin/Linux/project/dxl_monitor/
./dxl_monitor
id NUM_OF_SERVO (for instance 13 for the right knee)
wr 18 4 (18=port of alarm shutdown)

and do it for every servo that is collapsing (not due to overheat)
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