Hello Everyone,
I purchased my PhantomX MarkIII hexapod about a week ago. Ive gone through the startup guides and installed Pypose and Nuke0015. A bit of a pain in the butt to install everything but I was successful. I am attempting to create a "Travel" position where the robot goes from a compact position to standing. Everytime I go to stand I get overtorque alarms and the robot shuts down. Ive tried changing the leg angles and speed but the problem persists. Any tips for troubleshooting would be greatly appreciated.
I am using AX12+ servos with stock registers. Ive tried using Pypose sequences as well as NUKE export program, same problem.
Oh BTW this beautiful robots name is MantisVI
Pypose Sequence Video
https://www.dropbox.com/s/87c8p3dy3q...75244.mp4?dl=0
Manual Register Dump
Register Table Servos #1
ID # 1
MODEL, 12
FIRMWARE, 24
ID, 1
BAUD RATE, 1
RETURN DELAY TIME, 250
CW ANGLE LIMIT, 0
CCW ANGLE LIMIT, 1023
TEMPERATURE LIMIT, 70
LOW VOLTAGE LIMIT, 60
HIGH VOLTAGE LIMIT, 140
MAX TORQUE, 1023
STATUS RETURN LEVEL, 2
ALARM LED, 36
ALARM SHUTDOWN, 36
TORQUE ENABLE, 1
LED, 0
CW COMPLIANCE, 1
CCW COMPLIANCE, 1
CW COMPLAINCE SLOPE, 32
CCW COMPLAINCE SLOPE, 32
GOAL POSITION, 518
MOVING SPEED, 0
TORQUE LIMIT, 1023
PRESENT POSITION, 517
PRESENT SPEED, 0
PRESENT LOAD, 0
PRESENT VOLTAGE, 124
PRESENT TEMPERATURE, 33
REGISTERED, 0
MOVING, 0
LOCK, 0
PUNCH, 32
Reply With Quote
Bookmarks