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Thread: DYNAMIXEL MX-28 Velocity Mode is Not Working Properly

  1. Post DYNAMIXEL MX-28 Velocity Mode is Not Working Properly

    Hi All,

    I bought this pan-tilt (https://www.trossenrobotics.com/p/Wi...ot-turret.aspx) which has two MX-28 motors.

    I put load (Camera) on it and control the pan-tilt movement using usb2dynamixel device.

    I use Velocity Control Mode, which mean; control motor direction by change (+) or (-) value of Goal Velocity.

    For example:
    Goal Velocity: +20 -> move to CW with speed 20
    Goal Velocity: -20 -> move to CCW with speed 20
    Goal Velocity: 0 -> stop moving

    I face problem when set Goal Velocity to (zero), the motor is not stopped perfectly. I notice the motor still rotate slowly.

    Any help please,

    thanks.

    Best Regard,
    Tariq

  2. #2

    Re: DYNAMIXEL MX-28 Velocity Mode is Not Working Properly

    How long does it keep moving slowly? Forever?

    Which value do you write to the goal velocity register to write a "zero" target? If you bump it up or down by one, does it stop the motor?

  3. Re: DYNAMIXEL MX-28 Velocity Mode is Not Working Properly

    Dear jwatte, my answer for your questions.

    Quote Originally Posted by jwatte View Post
    How long does it keep moving slowly? Forever?
    Yes it keep moving slowly, but not forever. This issue not always happen.

    Which value do you write to the goal velocity register to write a "zero" target?
    0

    If you bump it up or down by one, does it stop the motor?
    No, it doesn't. it will start moving when put value (+1 or -1)

  4. #4

    Re: DYNAMIXEL MX-28 Velocity Mode is Not Working Properly

    Warning I don't have any of these servos or a USB2Dynamixel so take this with a grain of salt. I mostly have AX servos and now several XL430_W250 like servos.

    Have you asked up on the Robotis forum? http://en.robotis.com/service/forum.php
    If not you might try, as these are all of their devices.

    They may want to know some additional information, like:
    Are these servos configured for Protocol 1 or Protocol 2? Maybe even what version of firmware you have on them.

    I am guessing Protocol 2 as I am not sure Protocol 1 has goal velocity.
    They may also want to know what are your other settings, like profile acceleration, and PID settings...

    Good luck

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