Issue:
Hello,
I am currently using OpenManipulator-X and have a question regarding the conditions for the Overload Error in Dynamixel. When using OpenManipulator-X with position-based control, if the Dynamixel (ID 15) in the gripper part is rotated excessively, the components obstruct each other and can no longer rotate, resulting in an Overload Error. However, I don’t understand the mechanism for the occurrence of the Overload Error. For instance, I am curious how it identifies an Overload Error among various errors, such as whether it does not apply torque if the Goal Position is not reached or if there is a specific time set for the torque not being applied.
Based on my current experiments, when the Goal Position for ID15 is set to 2774, the Dynamixel does not rotate, and the Present Position does not reach 2774, but no Overload Error occurs. However, when the Goal Position is set to 2775, the Overload Error occurs about 10 seconds after the components obstruct each other. Thus, 2775 seems to be the threshold for the Overload Error. Additionally, when the Goal Position is set significantly higher than 3000, the Overload Error occurs about 5 seconds after the components obstruct each other.
Note that I have not assembled the components differently from the manual, and I have continuously checked the status of the Dynamixel using Dynamixel Wizard 2.0, but the following limit values were not reached:
- Temperature Limit (31)
- Min/Max Voltage Limit (32, 34)
- PWM Limit (36)
- Current Limit (38)
- Velocity Limit (44)
- Min/Max Position Limit (48, 52)
I also checked the Moving (122) and Moving Status (123) values, and in both cases where the Goal Position was 2774 and 2775, the Moving (122) and Moving Status (123) values were the same after the components obstructed each other.
Thank you.
DYNAMIXEL Servo: XM430-W350-T
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DYNAMIXEL Controller: OpenCR 1.0
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Software Interface: Python, Dynamixel Wizard 2.0, Dynamixel SDK
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