DXL RX-24F // Help me pack a punch (pun intended) !

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
2 postsPage 1 of 1
2 postsPage 1 of 1

DXL RX-24F // Help me pack a punch (pun intended) !

Post by NoIdeaWhatImDoing » Thu Aug 20, 2015 4:39 pm

Post by NoIdeaWhatImDoing
Thu Aug 20, 2015 4:39 pm

Hi everyone,

I guess I am struggling with interpreting some of the concepts in the datasheet.
REF: http://support.robotis.com/en/product/d ... rx-24f.htm

----------------------- Sanity Check -------------------------------
Assuming we have an RX-24F in 'Joint Mode':
When we turn the motor ON :
- The 'Torque limit'() is set to 'max torque' (EEPROM 0x0E )
If we change 'Moving Speed' and 'Goal Position':
-The 'Torque Enable' bit is set.
-The 'Torque Limit' will be adjusted to match this speed.
- The Motor torque will be reduced from 'Torque limit' value to 'Punch' value as it enters the 'Compliance Slope' region.

If we change the 'punch' value we are increasing a Torque min if will?

----------------------- Question -------------------------------

My question is this 'Torque min' with reference to 'Torque Limit' or with reference to 'Torque Max'. I.e. if I change the punch to be 0x112 will it be (112/'MaxTorque') of the Max Torque or will it be (112/'TorqueLimit')? The reason I ask is that the 'Compliance Slope' logic hints at the assumption that punch<Torque Limit.

----------------------- My setup -------------------------------
I guess for context I have the RX-24F motor driving a cable pulley (pulley diameter ~2.3mm) that is able to operate accurately with near zero load but with loads of about ~200g I doesn't seem to drive it but it also doesn't shutdown for current protect.

I would have assumed this motor would be powerful enough (way less then the alleged 2.3N/m even if you assume a protection at 30% of max load ).

This is what I changed in firmware (everything else is same as factory default):
Baud = 1Mbps
return delay= 10usec
Compliance Slope= 0x08

-------------------------------------------------------------------
My only last thought was to raise the punch limit but I am not sure if I am just missing something more obvious??
Power wise I am using a PSU running at 12V limited at 2.5A so again there is no way this would be insufficiently fed.


Any help or general thoughts would be greatly appreciated??!!!
Hi everyone,

I guess I am struggling with interpreting some of the concepts in the datasheet.
REF: http://support.robotis.com/en/product/d ... rx-24f.htm

----------------------- Sanity Check -------------------------------
Assuming we have an RX-24F in 'Joint Mode':
When we turn the motor ON :
- The 'Torque limit'() is set to 'max torque' (EEPROM 0x0E )
If we change 'Moving Speed' and 'Goal Position':
-The 'Torque Enable' bit is set.
-The 'Torque Limit' will be adjusted to match this speed.
- The Motor torque will be reduced from 'Torque limit' value to 'Punch' value as it enters the 'Compliance Slope' region.

If we change the 'punch' value we are increasing a Torque min if will?

----------------------- Question -------------------------------

My question is this 'Torque min' with reference to 'Torque Limit' or with reference to 'Torque Max'. I.e. if I change the punch to be 0x112 will it be (112/'MaxTorque') of the Max Torque or will it be (112/'TorqueLimit')? The reason I ask is that the 'Compliance Slope' logic hints at the assumption that punch<Torque Limit.

----------------------- My setup -------------------------------
I guess for context I have the RX-24F motor driving a cable pulley (pulley diameter ~2.3mm) that is able to operate accurately with near zero load but with loads of about ~200g I doesn't seem to drive it but it also doesn't shutdown for current protect.

I would have assumed this motor would be powerful enough (way less then the alleged 2.3N/m even if you assume a protection at 30% of max load ).

This is what I changed in firmware (everything else is same as factory default):
Baud = 1Mbps
return delay= 10usec
Compliance Slope= 0x08

-------------------------------------------------------------------
My only last thought was to raise the punch limit but I am not sure if I am just missing something more obvious??
Power wise I am using a PSU running at 12V limited at 2.5A so again there is no way this would be insufficiently fed.


Any help or general thoughts would be greatly appreciated??!!!
NoIdeaWhatImDoing offline
Newbie
Newbie
Posts: 1
Joined: Thu Aug 20, 2015 4:31 pm

Re: DXL RX-24F // Help me pack a punch (pun intended) !

Post by vmatos » Mon Aug 31, 2015 11:03 am

Post by vmatos
Mon Aug 31, 2015 11:03 am

Hey!

'Torque limit' is the value used to limit the torque of the motor. 'max torque' is the eeprom value that is loaded into 'torque limit' at power-on.
Hey!

'Torque limit' is the value used to limit the torque of the motor. 'max torque' is the eeprom value that is loaded into 'torque limit' at power-on.
vmatos offline
Robot Builder
Robot Builder
Posts: 12
Joined: Fri Jun 20, 2014 10:36 am


2 postsPage 1 of 1
2 postsPage 1 of 1