Search found 35 matches

by dave_rollinson
Fri Jun 25, 2021 3:48 pm
Forum: Scope
Topic: Interface for the rotation direction
Replies: 6
Views: 132

Re: Interface for the rotation direction

One interim option might be to setup some custom plots in Scope that invert feedback.
https://docs.hebi.us/tools.html#custom-charts

-Dave
by dave_rollinson
Fri Feb 05, 2021 1:51 pm
Forum: Actuators
Topic: Status Light 6DOF Arm kit (with gripper)
Replies: 1
Views: 167

Re: Status Light 6DOF Arm kit (with gripper)

If the actuator status LED is blinking orange instead of red (sometimes it's hard to tell the difference), it could be that a joint position safety limit is set and the actuator is reaching that limit. That would also explain the slightly higher winding temperature. The red blinking would be a motor...
by dave_rollinson
Tue Jan 26, 2021 8:02 am
Forum: Actuators
Topic: Control strategy 4 implementation
Replies: 4
Views: 513

Re: Control strategy 4 implementation

Setting the P or D gains too high on the effort loop (or any of the others) will cause shaking / buzzing due to sensor noise. If you want to more fully remove impedance from the effort/torque loop, you can lower the P/D gains, and instead use the integral I-term, Ki (units of PWM / Nm Error * sec). ...
by dave_rollinson
Mon Nov 30, 2020 8:03 am
Forum: Actuators
Topic: invert actuator's rotation
Replies: 2
Views: 374

Re: invert actuator's rotation

Hi, sorry for the delay getting back to you. There is not a way for you to reverse the sign convention of the feedback from the actuator or in Scope. The closest you could get I think would be to make a custom chart that inverts the feedback for the purposes of visualization, but doesn’t change the ...
by dave_rollinson
Mon Nov 09, 2020 12:54 pm
Forum: Actuators
Topic: Actuator changed its absolute zero angle
Replies: 5
Views: 633

Re: Actuator changed its absolute zero angle

Problems where the actuator output position jumps by 90º is a problem where there is mechanical backlash on the magnetic encoders that provide the multi-turn absolute sensing on the output. If you can send us the actuator we can repair it. We can coordinate via support@hebirobotics.com . Thanks, -Dave
by dave_rollinson
Wed Oct 14, 2020 1:20 pm
Forum: General
Topic: Connecting Actuators to University/Work Network
Replies: 5
Views: 624

Re: Connecting Actuators to University/Work Network

Also, a quick follow-on. If you're just looking to get a single actuator up and running while you get a router, setting a static IP is a pretty good use case. There are instructions on docs.hebi.us for doing a hardware reset to static IP (10.11.12.13). You will need to set your computer to a static ...
by dave_rollinson
Wed Oct 14, 2020 1:17 pm
Forum: General
Topic: Connecting Actuators to University/Work Network
Replies: 5
Views: 624

Re: Connecting Actuators to University/Work Network

Hi, Often corporate / university networks enforce security restrictions where actuators may get a valid IP address, but still don’t show up when doing a lookup in Scope or the APIs. The best way around this is to run your own local network with a router running DHCP . You can can connect the actuato...
by dave_rollinson
Fri Oct 02, 2020 11:41 pm
Forum: Actuators
Topic: Magnetometer
Replies: 2
Views: 362

Re: Magnetometer

Istvan, The actuators do not contain magnetometers. Even if they did they would be mostly measuring magnetic effects from the motor and gears. Overall, forward-integrating IMU data to get pose estimates doesn't work well without other sources to fuse in, like wheel odometry, vision, lidar, etc. Out ...
by dave_rollinson
Thu Oct 01, 2020 10:07 pm
Forum: Actuators
Topic: Control strategy 4 implementation
Replies: 4
Views: 513

Re: Control strategy 4 implementation

Qiang, To address your questions, I'm assuming you're running the latest version of the hebi-matlab-examples repository on Github. For working with single actuators, the best place to start is with the basic examples for the X-Series actuators . 1. I checked the control section, and I am wondering w...