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Aarhus-University-MPE / ArcticRover

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Motor Error 20 & 28 #2

Open MadsR opened 2 years ago

MadsR commented 2 years ago

ArcticRover firmware version

0.97.07

Area(s) with issue?

Hardware Issue

Steps to reproduce

Enable motor driver power, Enable motor Primary power.

✔️ Expected Behavior

Motors report error 28 (Undervoltage error) until internal capacity is sufficiently high. Then no error reports.

❌ Actual Behavior

One motor continuously report error 20 (DCLink error) and error 28 (undervoltage error) continuously.

Previously this eror was documented after a motor stress test, only after returning the motor for a service did this error dissapear.

MadsR commented 2 years ago

Replacing faulty motor with backup motor resolved the issue.

Todo Send all motors to manufacturer to resolve this unwanted behavior.

grinsted commented 2 years ago

Originally this error was reported by the left motor. Now the right motor also reports the same error. The day prior to this we experienced the motor stalling when the wheel sunk into soft snow. So perhaps this is somewhat similar to the stress test in that we asked it to do something more than it could deliver with the rated torque.

One more symptom: I have noticed that the motor does hum a bit and makes some tiny jerks while it reports this error. I recorded a video of this behaviour.