Search found 41 matches
- Mon Mar 20, 2023 12:02 pm
- Forum: Actuators
- Topic: IMU Saturation
- Replies: 3
- Views: 43300
Re: IMU Saturation
Adding on to this, as of ~Oct 2021 and thru today, the actuators use the TDK InvenSense ICM-42605. This includes both the X-Series and R-Series. The latest revision of the IO Boards uses the TDK InvenSense IIM-42652. It's also worth noting that if you are trying to determine the orientation of the a...
- Wed Dec 22, 2021 10:35 pm
- Forum: Actuators
- Topic: Random offset of actuator X5-9
- Replies: 3
- Views: 23763
Re: Random offset of actuator X5-9
Wei, I just replied on your other post. If the jumps are always 90-deg or 45-deg increments an update to the latest actuator firmware may fix the problem. If the issue is different, there may be a mechanical problem with the encoder. Contact us a support@hebirobotics.com and we can work out the deta...
- Wed Dec 22, 2021 10:32 pm
- Forum: Actuators
- Topic: Actuator changed its absolute zero angle
- Replies: 7
- Views: 29524
Re: Actuator changed its absolute zero angle
Wei (and others),
We recently released a firmware update that should help the 90-deg jumping issue. If the problem still persists, let us know at support@hebirobotics.com and we can work to get you a replacement actuator.
Thanks,
-Dave
We recently released a firmware update that should help the 90-deg jumping issue. If the problem still persists, let us know at support@hebirobotics.com and we can work to get you a replacement actuator.
Thanks,
-Dave
- Thu Aug 26, 2021 1:57 pm
- Forum: Actuators
- Topic: X8-16 backdrivability
- Replies: 7
- Views: 55087
Re: X8-16 backdrivability
Qiang, I'm guessing your power supply limited during the run? How are you powering the actuators? If you can replicate the issue and take a .hebilog file using Scope and share it with us we may be able to help diagnose. The first thing to look at would be the system voltage during the run. If it dip...
- Fri Aug 20, 2021 9:11 am
- Forum: Actuators
- Topic: X8-16 backdrivability
- Replies: 7
- Views: 55087
Re: X8-16 backdrivability
Qiang, You should be able to accomplish what you want with torque control of the actuators. The torque (effort) controller in the actuator acts on the sensed torque directly on the output, and the details of how the actuator controls the output torque can be tuned by adjusting the gains on the effor...
- Mon Aug 09, 2021 1:12 pm
- Forum: Kits|Other
- Topic: cannot search IGOR device using Scope
- Replies: 6
- Views: 33694
Re: cannot search IGOR device using Scope
Wei, Thank you for sharing the video. If possible can you take a similar video also while grabbing a log file for all the Igor actuators in Scope? You can do this by selecting all the Igor actuators and clicking the "Start" button for Logs on Monitoring Tab in Scope. This can be done from any comput...
- Fri Jun 25, 2021 3:48 pm
- Forum: Scope
- Topic: Interface for the rotation direction
- Replies: 6
- Views: 20976
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
https://docs.hebi.us/tools.html#custom-charts
-Dave
- Mon Feb 08, 2021 9:38 am
- Forum: Suggestion Box | Feature and Product Wishlists
- Topic: Publications that use Hebi robots
- Replies: 3
- Views: 19570
Re: Publications that use Hebi robots
This is awesome! Thanks!
- Fri Feb 05, 2021 1:51 pm
- Forum: Actuators
- Topic: Status Light 6DOF Arm kit (with gripper)
- Replies: 1
- Views: 17281
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...
- Tue Jan 26, 2021 8:02 am
- Forum: Actuators
- Topic: Control strategy 4 implementation
- Replies: 4
- Views: 20067
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). ...