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...

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

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...

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...

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...

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

-Dave

This is awesome! Thanks!

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...

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). ...

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 ...