Hello,
I had some questions regarding the dynamixel mx-28 servo. For one of my comapny’s applications, we need the dynamixels to be able to sustain about 30N (an inch away from the center of the servo) at a fixed position for around 10 minutes. However, the servo sometimes overloads and sets the overload bit on the status packet’s error byte. From my understanding, this load is well within the servo’s capabilities at max torque.
General Info for the Servo setup:
[font=Times New Roman]-[/font]12V, 6.5A power supply
[font=Times New Roman]-[/font]Applied torque is about 0.9Nm (34N at 1 inch away from center)
[font=Times New Roman]-[/font]Servo is in multiturn mode at a fixed position
[font=Times New Roman]-[/font]Max torque and torque limit are both 1023
[font=Times New Roman]-[/font]PGain is 200 and IGain is 15 (It was determined that these gains allowed the servo to stay at the goal position)
[font=Times New Roman]-[/font]Overloads without much repeatability (sometimes after 5 minutes of holding load, sometimes 15 min etc)
Questions:
[font=Times New Roman]-[/font]How does the servo calculate overload? What exactly causes it to set the overload bit?
[font=Times New Roman]-[/font]What are recommended values or general limits for these servos?
Thanks for your time and help!