Forum Posts

Max
Nov 12, 2021
In Help and Getting Started
Basically, the title says it all. Is there any determinism when sending multiple commands in a quick succession, before the previous commands are fully executed? E.g. let's say I send multi-turn position command 0xA3 so that it will take 1 second for the motor to reach the target position considering the max acceleration and speed settings. What happens if I send another 0xA3 command with different parameters 0.5 seconds later, while the motor is still executing the previous command? What happens if I do that many times in a row? I.e. 100 times, or 1000 times, or 100000 times? In a more concrete form, Q1: Does motor finish the "current" command being executed it it receives another command while the current is still running? Or does it cancel the "current" command and starts with the new one? Is there any difference if the command is a different one? E.g. the "current" command is 0xA3 and the "new" one is 0xA4? Or if the "current" command is a position-loop but the "new" one is say torque-loop? Q2: I assume there should be some command buffer where newly received commands are added. What happens if that buffer overruns? Does it reject the command that doesn't fit? Or does it replace some previous (earliest? latest?) command in the buffer? Q3: What is the command buffer size?
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Max
Nov 11, 2021
In Help and Getting Started
I'm trying to use RMD-L motor in speed-loop control by using "Speed closed-loop command 0xA2". If I set it to medium speed, like 50 RPM, it rotates as expected, but the torque is really low, any load will easily stop the motor. I can't see any options to increase the max torque/current in the protocol documentation or in "RMD config V2.0" software. It looks like the "Max Power" parameter is only present in the Current (Torque?) section. Can you please point out how to increase the max torque for the speed-loop and angle-loop controls? Separately, for the "Max Power" setting – which units is that? Is that something like milliamperes? Or milliwatts?
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Max
Nov 11, 2021
In Help and Getting Started
Hi, Please see the video attached. When sending position-loop commands to the motor to rotate it at a slow speed, the motion is jerky and not smooth. The same happens when using the (slow) speed-loop commands. It happens both via the debug port with "RMD config V2.0" software, and via CAN BUS. Auto-tuning does not change that. Is my motor faulty? Thanks
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Max
Nov 11, 2021
In Help and Getting Started
Hi, Is there a way to configure and RMD-L motor (say execute auto-tuning) without using the debug port via CAN BUS? Maybe there are some undocumented commands. It's not always easy to get to these small connectors when the motor is already installed. Thanks
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Max
Nov 11, 2021
In Help and Getting Started
Hi, The "RMD servo motor control protocol (CAN) V1.62" document says the following for the position loop commands: "In this control mode, the maximum torque current of the motor is limited by the Max Torque Current value in the host computer." I can't find that setting anywhere in the "RMD config V2.0" software or in the CAN commands. Could you please clarify?
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Max

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