Search found 40 matches

by dave_rollinson
Wed Dec 22, 2021 10:35 pm
Forum: Actuators
Topic: Random offset of actuator X5-9
Replies: 3
Views: 637

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...
by dave_rollinson
Wed Dec 22, 2021 10:32 pm
Forum: Actuators
Topic: Actuator changed its absolute zero angle
Replies: 7
Views: 1950

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
by dave_rollinson
Thu Aug 26, 2021 1:57 pm
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 1524

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...
by dave_rollinson
Fri Aug 20, 2021 9:11 am
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 1524

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...
by dave_rollinson
Mon Aug 09, 2021 1:12 pm
Forum: Kits|Other
Topic: cannot search IGOR device using Scope
Replies: 6
Views: 1430

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...
by dave_rollinson
Fri Jun 25, 2021 3:48 pm
Forum: Scope
Topic: Interface for the rotation direction
Replies: 6
Views: 1639

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: 618

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: 1426

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: 1005

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 ...