search

ROBOTIS-GIT / dynamixel-workbench

ROS packages for Dynamixel controllers, msgs, single_manager, toolbox, tutorials
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/
Apache License 2.0
106 stars 174 forks source link

Incorrect status packet #370

Open gyxx323 opened 1 year ago

gyxx323 commented 1 year ago

I use U2D2 connection, when I connect to the PC everything is fine. But when I use Jetson to connect to U2D2, sometimes everything is fine, sometimes it gives an error: Incorrect status packet. And it sends a series of trajectory points that it wants the servo to execute, part of which it will execute intermittently.

The servos I use are XM430, XC430 and XL430 Baud rate: 57600 The period of sending the desired position of the servo: 50Hz

What puzzles me most is why he is sometimes normal and sometimes not normal. Is this related to the setting of baud rate? Or should I use the dynamixel sdk instead of workbench?

IMG20230318225159

ROBOTIS-Will commented 1 year ago

The baudrate of 57600 bps doesn't seem fast enough for 50Hz control frequency. Please try with higher baudrate, and also if possible, please try reading the data packet with DYNAMIXEL Wizard 2.0 packet analyzing feature.

gyxx323 commented 1 year ago

What is the recommended baud rate for 50hz control? Also, does voltage instability affect this(The motor has not been cut off)? Thanks!

shiba-8ro commented 1 year ago

@gyxx323 U2D2 and Dynamixel X series support up to 4.5Mbps. you're worth to try it. Note that USB (FTDI chip) has latency. https://granitedevices.com/wiki/FTDI_Linux_USB_latency

gyxx323 commented 1 year ago

@gyxx323 U2D2 and Dynamixel X series support up to 4.5Mbps. you're worth to try it. Note that USB (FTDI chip) has latency. https://granitedevices.com/wiki/FTDI_Linux_USB_latency

Thank you. I will try it!