I am using multiple Dynamixel servo motor models on my platforms but have encountered an issue in recent times.
Currently, I am facing issue with the XW540-T140-R.
Stall current for this is 4.9 A.
I am operating it in the current based position control mode with a current limit of 2.2A and providing power from a 60W power supply. However, I am facing an issue of Hardware error with an error code 32 which means overload error, which only goes away once I power cycle it. But it keeps coming back regularly.
I initially presumed the motor was not able to provide enough torque in some particular scenarios. So, I tried to recreate this conditions with a spare XH-540-W270-R, with
a current limit of 600mA.
We tested it for 2 cases:
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The motor is held at an intermediate position when it is going to its target point and is unable to reach that position.
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The motor is at its target point and the shaft is being turned externally by someone.
In both of these cases, the motor was getting stalled but I didn’t see any hardware error.
What can be the possible reasons behind the occurence of a hardware error with a overload issue?