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    Alaeddine Brahem
    Feb 22

    AR4_teensy41_CUI_enc_sketch (BETA) calibration issue

    in Questions

    Hello, we try to implement AR4 AR4_teensy41_CUI_enc_sketch (BETA) in AR3 but no joint calibration work fine all are false

    is there any modification ? we also change our motor steps per degree in order of our Driver Motors also DH-Parameters but still false

    the joint still work like no switch is there for stop it move for custum steps and stop no stop with switchers.

    10 comments
    10 Comments

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    Chris Annin
    Mar 09

    @zuolin1977 Thank you for the feedback on that. If you disable that encoder for J1 in the software does it still give you that error? I suspect a wiring or encoder issue.

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    zuolin1977
    Mar 10
    Replying to

    @Chris Annin Thanks, that solves the problem! I think for some reason the two pins are flipped for the CUI encoder compared to the new encoder. A side note, I found the wiring diagram on page 221 of the AR4 manual really confusing. The color of the cables and the numbering of each wire is completely different than page 250. I have to trace each wire by number, not by color.

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    C
    Chris Annin
    Mar 11
    Replying to

    @zuolin1977 Got it, someone else just pointed that out as well. I will figure out which part of the schematic I messed up and get it fixed tonight. Thank you for pointing that out.

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    C
    Chris Annin
    Mar 12
    Replying to

    @zuolin1977 It looks like I had 2 different keystone jacks that were numbered differently that goofed me up. I fixed the wiring on page 221 and published version 1.1 of the manual. Let me know if you have any feedback or see any issues. I apologize for the issue.

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    zuolin1977
    Mar 09

    I have been testing AR4 software on AR3, the calibration works fine for me. I was able to adjust offsets for each joint. One thing I noticed is the angle from limit switch to 0 is not adjusted with the offset. So if I jog the robot to the extreme position, the limit switch is pressed too hard. Another thing that prevents me from further testing is Joint 1 gives me a 'collision or motor error' if I jog it slightly.

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    C
    Chris Annin
    Feb 22

    Were all your limit switches and joint calibrations working with the AR3 software? I will start looking into this. If anyone else is having this issue please let me know.

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    A
    Alaeddine Brahem
    Feb 23
    Replying to

    yes working fine also when we check test switch program all working fine but the problem, in calibration CALL FUNCT TO DRIVE BACK TO LIMITS SLOWLY not working also but in the interface tell us that calibration seccuessful

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    C
    Chris Annin
    Mar 09
    Replying to

    @Alaeddine Brahem Is it driving to the limit switches and then slightly back off of them? If the motion is not as expected can you send me a quick video?

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    10 comments