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    ING
    Jun 11

    Collision or motor error problem

    in Questions

    Hi from Spain, a few month ago I built the AR3 robot but with little modifications to end stop switches (J2 and J4). The problem I have is that when I enable the encoders and I run a program, I get the "Colission or motor error, see log" error and the program stops. It happens everytime, and with all the axes. When I jog manually each axes, I get no errors. If I run the "test encoders" program, I get correct values.


    I'm using AR4 (v1.1) control software with updated Teensy 4.1. I have modify the Teensy program to invert some encoder channels and adjust some steps/º ratios. What could be wrong or I should check?


    Thank you so much

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    ING
    Jun 13

    Thank you, I will try to supply 5V to the encoders and use a level shifter.

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    MidnightOilBurner
    Jun 13
    Replying to

    Good luck ING, I have a similar setup, and I will test it during this week - probably not the whole robot yet, but I will leave here some feedback..

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    ING
    Jun 13

    Thank you for your answer,

    1. Yes, they are working on 3.3V.

    2. No, the encoders are also working on 3.3V. Checking the datasheet, I see that the minimun Vdd is 3.6V, so maybe here is the problem. I´m a little confused here because when running the test encoders program, I can see the values changing.


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    MidnightOilBurner
    Jun 13
    Replying to

    The values from the encoder might change, but might be random, and not reflecting the real movement. I never tested these encoders with an undervoltage supply, but the recommended range is there for a reason :).

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    M
    MidnightOilBurner
    Jun 12

    Just two questions: 1. Did you modify the switch limiters' voltage to 3.3V? 2. Did you install any level shifters on the CUI encoders outputs? Having 5V on the corresponding inputs of Teensy v4.1 is bringing the microcontroller on that board outside the safe limits, and may produce unexpected behaviours, or even permanent failure of the Teensy board.

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