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ghutchins
May 30, 2022
In Help and Getting Started
I am using the CAN bus protocol to control RMD-X10, it seems that most of the commands are working (I can get firmware version, system running time, motor status 1-3, but I cannot seem to get the motor to move). I have looked on this forum, in github for example code (found some for RMD-X8 but that protocol is a bit different). The documentation I have found on the company web site is not adequate, is there any other documentation or sample RMD-X10 code available that will help me get over this road block? I'm trying to use the 0xA8 command (position closed loop control command) to move the motor. What initial setup is required to get this to happen? I am sending the 0x88 command and waiting 3 seconds. What other commands to I have to issue for initial setup? Following is output from various status commands: Command? mstatus SERVO-MOTOR STATUS... Temperature C = 60 Brake status = UNLOCKED Voltage = 23.9 Error Status = 0x0 Torque = -39 Speed = 0 Encoder position = 55458 Phase A current = -3 Phase B current = 35 Phase C current = 35 SERVO-MOTOR MULTI-TURN POSTION AND STUFF... pos=-10078, orig_pos=-10077, zero_offset=1, angle=-5536, acc=5000, kp=3858759, ki=21810 SERVO-MOTOR WORKING MODE... Motor mode is: Position loop mode
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