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Thread: Dynamixel Servo AX 12A suddenly stopped rotoating, but led can be controlled

  1. #1
    rahu2105 Guest

    Dynamixel Servo AX 12A suddenly stopped rotoating, but led can be controlled

    I am having a PhantomX Pincher Robot Arm Kit V2 recently purchased.It was working well for initial 2 days,then suddenly one of the link servo stopped,but it LED can still be controlled,that means ID was not reset and serial communication is still intact.

    I am using the library based on popular Savage Electronics (DynamixelSerial1.h) on Arduino Mega 2560.
    My work bench power supply is regulated at 11.8V and can supply more than 5A.

    I am attaching a test code that I use to move all links. It's the Servo ID=4 that is not rotating.

    Any help or suggestions is welcome.

    Code:
    #include <DynamixelSerial1.h>
    
    void setup() {
      Dynamixel.begin(1000000, 2);
    
      Dynamixel.setEndless(1, OFF);
      Dynamixel.setEndless(2, OFF);
      Dynamixel.setEndless(3, OFF);
      Dynamixel.setEndless(4, OFF);
      Dynamixel.setEndless(5, OFF);
      delay(1000);
    
    }
    
    void loop() 
    {
    
      Dynamixel.move(1, 512);
      delay(2000);
      Dynamixel.move(1, 255);
      delay(2000);
      Dynamixel.move(2, 350);
      delay(2000);
      Dynamixel.move(2, 512);
      delay(2000);
      Dynamixel.move(3, 255);
      delay(2000);
      Dynamixel.move(3, 512);
      delay(2000);
      Dynamixel.move(4, 255);
      delay(2000);
      Dynamixel.move(4, 512);
      delay(2000);
      Dynamixel.move(5, 300);
      Dynamixel.ledStatus(5, ON);
      Dynamixel.ledStatus(4, ON);
      Dynamixel.ledStatus(3, ON);
      Dynamixel.ledStatus(2, ON);
      Dynamixel.ledStatus(1, ON);
      delay(1000);
      Dynamixel.ledStatus(5, OFF);
      Dynamixel.ledStatus(4, OFF);
      Dynamixel.ledStatus(3, OFF);
      Dynamixel.ledStatus(2, OFF);
      Dynamixel.ledStatus(1, OFF);
      delay(1000);
    
    }

  2. #2
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    Re: Dynamixel Servo AX 12A suddenly stopped rotoating, but led can be controlled

    Does it make any attempt to move? Does the LED start flashing after some amount of time without moving to its goal position? Can the servo be turned by hand? Are the cables or another part of the servo snagged on the arm?
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
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  3. #3

    Re: Dynamixel Servo AX 12A suddenly stopped rotoating, but led can be controlled

    Can you show us a dump of all the values of that servo's control table?

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