Issue:
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DYNAMIXEL Servo: 4x XC-330-T288-T and 3X XM-430-W210-T all in one daisy chain.
LIST ALL DYNAMIXEL SERVOS USED IN THIS PROJECT
DYNAMIXEL Controller: U2D2 and power hub
LIST ALL DYNAMIXEL CONTROLLERS USED IN THIS PROJECT
Software Interface:
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One the first XC330 in the daisy chain, we’re seeing an input voltage error that an input voltage is detected exceeding the configured operating voltage. We are powering the whole daisy chain through the power hub with a 12V power supply. We never had this issue pop up on 10 different identical systems. Wondering how to debug.
I am not part of the official ROBOTIS Support Staff, but I have used ROBOTIS actuators for a long time, and from my past experiences, that “acting-up” actuator should be removed from the daisy chain so it can be troubleshot separately from the others - especially when you have 10 different identical systems that do not behave this way. From my own experiences, this odd behavior will only get worse and then pulls the other actuators in the daisy chain down also. Hopefully you have a spare XC-330 to switch out.
Furthermore, I would suggest for you to modify your SINGLE daisy-chain to TWO “parallel” and shorter power chains of no more than 4 actuators each (starting from the U2D2 Power Hub): perhaps one for all the XC-330s and the other for the XM-430s. You’ll have less of a voltage drop issue between the “first” and “last” actuators that way, and less of a control packet lag overall also. Then, of course, you probably would have to custom-make your own X3P cables for the second mini chain!