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Hi, |
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Replies: 16 comments
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I tried to increase the TorqueMax and restarted the robot but it seems that nothing changed. During the balancing on left leg I've seen that on the left leg the hip roll goes in hw fault for torque saturation around 25, and in fact, in the file TorqueMax was on 24. But Even if I increased it to 50 and relaunched everything, it again saturated around the same value. |
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I checked the source code (https://github.com/robotology/icub-main/blame/f10921a6889ff19ead17e123672ad6f37892565a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp#L1383) and apparently (as far I can see) TorqueMax is the right parameter. Perhaps @barbalberto knows something more. |
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@hu-yue may you try to do the same test with a lower saturation limit? |
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The TorqueMax related to the reading of values, but is not related to the maximum torque the motor can produce. |
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Ok, I tried with the following limits:
The exact warning we get is:
The errors following this are:
The experiment is the one described in my previous comment, the joint that goes on hw fault is left hip roll. |
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The reported error is a I2T limit fault, i.e. the motor is absorbing too much current - it is a thermal protection. |
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Is this a new feature? It never happened before |
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So, they are two different problems:
As for the first, the warning message is
but the |
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No, it is a protection that has always been implemented in the motor board... have you ever tried the same task with the other leg? Maybe some hardware problem in the motor has arised. |
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In light of the above, @hu-yue, can you open other two issues on |
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I never tried with the other leg. I cannot exclude the possibility of motor problems, lately the robot has been used much more than before. @DanielePucci I will open another issue for the hw fault. |
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The correct way to change the torque measure saturation threashold is to modify the value |
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Are we sure that the parameter |
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I would say that the maximum torque is related to the overall mechanical structure of the joint group. This includes the motor but also the motor shaft, the bearings and other optional components such as the tendons. If |
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cc @marcoaccame |
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The reported error is a I2T limit fault, i.e. the motor is absorbing too much current - it is a thermal protection.