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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
5 stars 4 forks source link

Increase speed in the backward direction. #12

Closed fig-shimooka closed 2 years ago

fig-shimooka commented 2 years ago

I want to increase the speed of the SWD Core in the back direction. Is there a way to do this?

fig-shimooka commented 2 years ago 
   1 :  [800E] FAULT_ALIM_EXT
   2 :  [800E] FAULT_ALIM_EXT
   3 :  [800E] FAULT_ALIM_EXT
   4 :  [800E] FAULT_ALIM_EXT
   5 :  [800E] FAULT_ALIM_EXT
   6 :  [800E] FAULT_ALIM_EXT
   7 :  [8201] SRDO_SCT_timeout
   8 :  [8201] SRDO_SCT_timeout
   9 :  [8201] SRDO_SCT_timeout
  10 :  [8201] SRDO_SCT_timeout
  11 :  [8201] SRDO_SCT_timeout
  12 :  [8201] SRDO_SCT_timeout
  13 :  [8201] SRDO_SCT_timeout
  14 :  [8201] SRDO_SCT_timeout
  15 :  [8201] SRDO_SCT_timeout
  16 :  [8201] SRDO_SCT_timeout
  17 :  [8201] SRDO_SCT_timeout
  18 :  [8201] SRDO_SCT_timeout
  19 :  [800E] FAULT_ALIM_EXT
ez-Support commented 2 years ago

Can you try to increase the time of m_publish_safetymessages. In the DiffDriveController.cpp, change ros::Duration(1.0 / 5.0) to ros::Duration(1.0 / 2.5). It will give more time to the Linux stack to handle other messages and actions, and deal with it.

fig-shimooka commented 2 years ago

Changed to 2.5 seconds. I think it is better than before. However, sometimes it still takes a while for the state to change (around 10 seconds).

$ ./remote.py swd_right
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_right .................................................................... [OK]
Node ID              : 0x5 .......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 724434946 .................................................................... [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.1 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : FAULT  ....................................................................... [OK]
NbError              : 34 ........................................................................... [OK]
LastError            : 800E : FAULT_ALIM_EXT ........................................................ [OK]
SystemError          : EZW_PROTECT_BRAKE_CC_PROTECT EZW_PROTECT_BRAKE_CC_PROTECT  ................... [OK]
SSW CAN1             : True, False, False, False, False, False, False, False  ....................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : False, False, False, False, False, False, True, True  ........................ [OK]
Peripheral           : True, True, True, False, True, True  ......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1849 ......................................................................... [OK]
OdometryValue        : 1779 ......................................................................... [OK]
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
EMCY list : 
   1 :  [800E] FAULT_ALIM_EXT
   2 :  [8201] SRDO_SCT_timeout
   3 :  [800E] FAULT_ALIM_EXT
   4 :  [8201] SRDO_SCT_timeout
   5 :  [800E] FAULT_ALIM_EXT
   6 :  [8201] SRDO_SCT_timeout
   7 :  [800E] FAULT_ALIM_EXT
   8 :  [800E] FAULT_ALIM_EXT
   9 :  [800E] FAULT_ALIM_EXT
  10 :  [800E] FAULT_ALIM_EXT
  11 :  [800E] FAULT_ALIM_EXT
  12 :  [800E] FAULT_ALIM_EXT
  13 :  [8201] SRDO_SCT_timeout
  14 :  [800E] FAULT_ALIM_EXT
  15 :  [800E] FAULT_ALIM_EXT
  16 :  [8201] SRDO_SCT_timeout
  17 :  [800E] FAULT_ALIM_EXT
  18 :  [8201] SRDO_SCT_timeout
  19 :  [800E] FAULT_ALIM_EXT
  20 :  [800E] FAULT_ALIM_EXT
  21 :  [800E] FAULT_ALIM_EXT
  22 :  [8201] SRDO_SCT_timeout
  23 :  [800E] FAULT_ALIM_EXT
  24 :  [800E] FAULT_ALIM_EXT
  25 :  [8201] SRDO_SCT_timeout
  26 :  [8201] SRDO_SCT_timeout
  27 :  [800E] FAULT_ALIM_EXT
  28 :  [800E] FAULT_ALIM_EXT
  29 :  [8201] SRDO_SCT_timeout
  30 :  [800E] FAULT_ALIM_EXT
  31 :  [8201] SRDO_SCT_timeout
  32 :  [8201] SRDO_SCT_timeout
  33 :  [800E] FAULT_ALIM_EXT
  34 :  [800E] FAULT_ALIM_EXT
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
fig@x86:/opt/ezw/usr/sbin$ ./remote.py swd_left
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_left ..................................................................... [OK]
Node ID              : 0x4 .......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 724434949 .................................................................... [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.1 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : OPERATION_ENABLED  ........................................................... [OK]
NbError              : 217 .......................................................................... [OK]
LastError            : 8201 : SRDO_SCT_timeout ...................................................... [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : True, False, False, False, False, False, False, False  ....................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, False, False, True, True, True, True  ............................ [OK]
Peripheral           : True, True, True, True, True, True  .......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: True, position_polarity: True ............................. [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1773 ......................................................................... [OK]
OdometryValue        : 1706 ......................................................................... [OK]
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
EMCY list : 
   1 :  [8201] SRDO_SCT_timeout
   2 :  [8201] SRDO_SCT_timeout
   3 :  [8201] SRDO_SCT_timeout
   4 :  [8201] SRDO_SCT_timeout
   5 :  [8201] SRDO_SCT_timeout
   6 :  [8201] SRDO_SCT_timeout
   7 :  [8201] SRDO_SCT_timeout
   8 :  [8201] SRDO_SCT_timeout
   9 :  [8201] SRDO_SCT_timeout
  10 :  [8201] SRDO_SCT_timeout
  11 :  [8201] SRDO_SCT_timeout
  12 :  [8201] SRDO_SCT_timeout
  13 :  [8201] SRDO_SCT_timeout
  14 :  [8201] SRDO_SCT_timeout
  15 :  [8201] SRDO_SCT_timeout
  16 :  [8201] SRDO_SCT_timeout
  17 :  [8201] SRDO_SCT_timeout
  18 :  [8201] SRDO_SCT_timeout
  19 :  [8201] SRDO_SCT_timeout
  20 :  [8201] SRDO_SCT_timeout
  21 :  [8201] SRDO_SCT_timeout
  22 :  [8201] SRDO_SCT_timeout
  23 :  [8201] SRDO_SCT_timeout
  24 :  [8201] SRDO_SCT_timeout
  25 :  [8201] SRDO_SCT_timeout
  26 :  [8201] SRDO_SCT_timeout
  27 :  [8201] SRDO_SCT_timeout
  28 :  [8201] SRDO_SCT_timeout
  29 :  [8201] SRDO_SCT_timeout
  30 :  [8201] SRDO_SCT_timeout
  31 :  [8201] SRDO_SCT_timeout
  32 :  [8201] SRDO_SCT_timeout
  33 :  [8201] SRDO_SCT_timeout
  34 :  [8201] SRDO_SCT_timeout
  35 :  [8201] SRDO_SCT_timeout
  36 :  [8201] SRDO_SCT_timeout
  37 :  [8201] SRDO_SCT_timeout
  38 :  [8201] SRDO_SCT_timeout
  39 :  [8201] SRDO_SCT_timeout
  40 :  [8201] SRDO_SCT_timeout
  41 :  [8201] SRDO_SCT_timeout
  42 :  [8201] SRDO_SCT_timeout
  43 :  [8201] SRDO_SCT_timeout
  44 :  [8201] SRDO_SCT_timeout
  45 :  [8201] SRDO_SCT_timeout
  46 :  [8201] SRDO_SCT_timeout
  47 :  [8201] SRDO_SCT_timeout
  48 :  [8201] SRDO_SCT_timeout
  49 :  [8201] SRDO_SCT_timeout
  50 :  [8201] SRDO_SCT_timeout
  51 :  [8201] SRDO_SCT_timeout
  52 :  [800E] FAULT_ALIM_EXT
  53 :  [8201] SRDO_SCT_timeout
  54 :  [8201] SRDO_SCT_timeout
  55 :  [8201] SRDO_SCT_timeout
  56 :  [8201] SRDO_SCT_timeout
  57 :  [8201] SRDO_SCT_timeout
  58 :  [800E] FAULT_ALIM_EXT
  59 :  [8201] SRDO_SCT_timeout
  60 :  [8201] SRDO_SCT_timeout
  61 :  [8201] SRDO_SCT_timeout
  62 :  [8201] SRDO_SCT_timeout
  63 :  [800E] FAULT_ALIM_EXT
  64 :  [8201] SRDO_SCT_timeout
  65 :  [8201] SRDO_SCT_timeout
  66 :  [8201] SRDO_SCT_timeout
  67 :  [8201] SRDO_SCT_timeout
  68 :  [8201] SRDO_SCT_timeout
  69 :  [8201] SRDO_SCT_timeout
  70 :  [8201] SRDO_SCT_timeout
  71 :  [800E] FAULT_ALIM_EXT
  72 :  [8201] SRDO_SCT_timeout
  73 :  [8201] SRDO_SCT_timeout
  74 :  [8201] SRDO_SCT_timeout
  75 :  [8201] SRDO_SCT_timeout
  76 :  [8201] SRDO_SCT_timeout
  77 :  [8201] SRDO_SCT_timeout
  78 :  [8201] SRDO_SCT_timeout
  79 :  [8201] SRDO_SCT_timeout
  80 :  [8201] SRDO_SCT_timeout
  81 :  [8201] SRDO_SCT_timeout
  82 :  [8201] SRDO_SCT_timeout
  83 :  [8201] SRDO_SCT_timeout
  84 :  [8201] SRDO_SCT_timeout
  85 :  [8201] SRDO_SCT_timeout
  86 :  [8201] SRDO_SCT_timeout
  87 :  [8201] SRDO_SCT_timeout
  88 :  [8201] SRDO_SCT_timeout
  89 :  [8201] SRDO_SCT_timeout
  90 :  [8201] SRDO_SCT_timeout
  91 :  [8201] SRDO_SCT_timeout
  92 :  [8201] SRDO_SCT_timeout
  93 :  [8201] SRDO_SCT_timeout
  94 :  [8201] SRDO_SCT_timeout
  95 :  [8201] SRDO_SCT_timeout
  96 :  [8201] SRDO_SCT_timeout
  97 :  [8201] SRDO_SCT_timeout
  98 :  [8201] SRDO_SCT_timeout
  99 :  [8201] SRDO_SCT_timeout
 100 :  [8201] SRDO_SCT_timeout
 101 :  [8201] SRDO_SCT_timeout
 102 :  [8201] SRDO_SCT_timeout
 103 :  [8201] SRDO_SCT_timeout
 104 :  [8201] SRDO_SCT_timeout
 105 :  [8201] SRDO_SCT_timeout
 106 :  [8201] SRDO_SCT_timeout
 107 :  [8201] SRDO_SCT_timeout
 108 :  [8201] SRDO_SCT_timeout
 109 :  [8201] SRDO_SCT_timeout
 110 :  [8201] SRDO_SCT_timeout
 111 :  [8201] SRDO_SCT_timeout
 112 :  [8201] SRDO_SCT_timeout
 113 :  [8201] SRDO_SCT_timeout
 114 :  [8201] SRDO_SCT_timeout
 115 :  [8201] SRDO_SCT_timeout
 116 :  [8201] SRDO_SCT_timeout
 117 :  [8201] SRDO_SCT_timeout
 118 :  [8201] SRDO_SCT_timeout
 119 :  [8201] SRDO_SCT_timeout
 120 :  [8201] SRDO_SCT_timeout
 121 :  [8201] SRDO_SCT_timeout
 122 :  [8201] SRDO_SCT_timeout
 123 :  [8201] SRDO_SCT_timeout
 124 :  [8201] SRDO_SCT_timeout
 125 :  [8201] SRDO_SCT_timeout
 126 :  [8201] SRDO_SCT_timeout
 127 :  [8201] SRDO_SCT_timeout
 128 :  [8201] SRDO_SCT_timeout
 129 :  [8201] SRDO_SCT_timeout
 130 :  [8201] SRDO_SCT_timeout
 131 :  [8201] SRDO_SCT_timeout
 132 :  [8201] SRDO_SCT_timeout
 133 :  [8201] SRDO_SCT_timeout
 134 :  [8201] SRDO_SCT_timeout
 135 :  [8201] SRDO_SCT_timeout
 136 :  [8201] SRDO_SCT_timeout
 137 :  [8201] SRDO_SCT_timeout
 138 :  [8201] SRDO_SCT_timeout
 139 :  [8201] SRDO_SCT_timeout
 140 :  [8201] SRDO_SCT_timeout
 141 :  [8201] SRDO_SCT_timeout
 142 :  [8201] SRDO_SCT_timeout
 143 :  [8201] SRDO_SCT_timeout
 144 :  [8201] SRDO_SCT_timeout
 145 :  [8201] SRDO_SCT_timeout
 146 :  [8201] SRDO_SCT_timeout
 147 :  [8201] SRDO_SCT_timeout
 148 :  [8201] SRDO_SCT_timeout
 149 :  [8201] SRDO_SCT_timeout
 150 :  [8201] SRDO_SCT_timeout
 151 :  [8201] SRDO_SCT_timeout
 152 :  [8201] SRDO_SCT_timeout
 153 :  [8201] SRDO_SCT_timeout
 154 :  [8201] SRDO_SCT_timeout
 155 :  [8201] SRDO_SCT_timeout
 156 :  [8201] SRDO_SCT_timeout
 157 :  [8201] SRDO_SCT_timeout
 158 :  [8201] SRDO_SCT_timeout
 159 :  [8201] SRDO_SCT_timeout
 160 :  [8201] SRDO_SCT_timeout
 161 :  [8201] SRDO_SCT_timeout
 162 :  [8201] SRDO_SCT_timeout
 163 :  [8201] SRDO_SCT_timeout
 164 :  [8201] SRDO_SCT_timeout
 165 :  [8201] SRDO_SCT_timeout
 166 :  [8201] SRDO_SCT_timeout
 167 :  [8201] SRDO_SCT_timeout
 168 :  [8201] SRDO_SCT_timeout
 169 :  [800E] FAULT_ALIM_EXT
 170 :  [8201] SRDO_SCT_timeout
 171 :  [8201] SRDO_SCT_timeout
 172 :  [8201] SRDO_SCT_timeout
 173 :  [8201] SRDO_SCT_timeout
 174 :  [8201] SRDO_SCT_timeout
 175 :  [800E] FAULT_ALIM_EXT
 176 :  [8201] SRDO_SCT_timeout
 177 :  [8201] SRDO_SCT_timeout
 178 :  [8201] SRDO_SCT_timeout
 179 :  [8201] SRDO_SCT_timeout
 180 :  [8201] SRDO_SCT_timeout
 181 :  [8201] SRDO_SCT_timeout
 182 :  [8201] SRDO_SCT_timeout
 183 :  [800E] FAULT_ALIM_EXT
 184 :  [8201] SRDO_SCT_timeout
 185 :  [8201] SRDO_SCT_timeout
 186 :  [8201] SRDO_SCT_timeout
 187 :  [8201] SRDO_SCT_timeout
 188 :  [8201] SRDO_SCT_timeout
 189 :  [8201] SRDO_SCT_timeout
 190 :  [8201] SRDO_SCT_timeout
 191 :  [8201] SRDO_SCT_timeout
 192 :  [8201] SRDO_SCT_timeout
 193 :  [8201] SRDO_SCT_timeout
 194 :  [8201] SRDO_SCT_timeout
 195 :  [8201] SRDO_SCT_timeout
 196 :  [8201] SRDO_SCT_timeout
 197 :  [8201] SRDO_SCT_timeout
 198 :  [8201] SRDO_SCT_timeout
 199 :  [8201] SRDO_SCT_timeout
 200 :  [8201] SRDO_SCT_timeout
 201 :  [8201] SRDO_SCT_timeout
 202 :  [8201] SRDO_SCT_timeout
 203 :  [8201] SRDO_SCT_timeout
 204 :  [8201] SRDO_SCT_timeout
 205 :  [8201] SRDO_SCT_timeout
 206 :  [800E] FAULT_ALIM_EXT
 207 :  [8201] SRDO_SCT_timeout
 208 :  [8201] SRDO_SCT_timeout
 209 :  [8201] SRDO_SCT_timeout
 210 :  [8201] SRDO_SCT_timeout
 211 :  [8201] SRDO_SCT_timeout
 212 :  [8201] SRDO_SCT_timeout
 213 :  [8201] SRDO_SCT_timeout
 214 :  [8201] SRDO_SCT_timeout
 215 :  [800E] FAULT_ALIM_EXT
 216 :  [8201] SRDO_SCT_timeout
 217 :  [800E] FAULT_ALIM_EXT
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
fig-shimooka commented 2 years ago

Changed to 1 second. I think the response is much better. For some reason, only the emergency switch on the right motor is sometimes slow by about 5 seconds.

RIGHT

EMCY list : 
   1 :  [800E] FAULT_ALIM_EXT
   2 :  [8201] SRDO_SCT_timeout
   3 :  [800E] FAULT_ALIM_EXT
   4 :  [8201] SRDO_SCT_timeout
   5 :  [8201] SRDO_SCT_timeout
   6 :  [800E] FAULT_ALIM_EXT
   7 :  [8201] SRDO_SCT_timeout
   8 :  [800E] FAULT_ALIM_EXT
   9 :  [800E] FAULT_ALIM_EXT
  10 :  [8201] SRDO_SCT_timeout
  11 :  [800E] FAULT_ALIM_EXT

LEFT

   1 :  [8201] SRDO_SCT_timeout
   2 :  [8201] SRDO_SCT_timeout
   3 :  [8201] SRDO_SCT_timeout
   4 :  [8201] SRDO_SCT_timeout
   5 :  [8201] SRDO_SCT_timeout
   6 :  [8201] SRDO_SCT_timeout
   7 :  [8201] SRDO_SCT_timeout
   8 :  [8201] SRDO_SCT_timeout
   9 :  [8201] SRDO_SCT_timeout
  10 :  [8201] SRDO_SCT_timeout
  11 :  [8201] SRDO_SCT_timeout
  12 :  [8201] SRDO_SCT_timeout
  13 :  [8201] SRDO_SCT_timeout
  14 :  [8201] SRDO_SCT_timeout
  15 :  [8201] SRDO_SCT_timeout
  16 :  [8201] SRDO_SCT_timeout
  17 :  [8201] SRDO_SCT_timeout
  18 :  [8201] SRDO_SCT_timeout
  19 :  [8201] SRDO_SCT_timeout
  20 :  [8201] SRDO_SCT_timeout
  21 :  [8201] SRDO_SCT_timeout
  22 :  [8201] SRDO_SCT_timeout
  23 :  [8201] SRDO_SCT_timeout
  24 :  [8201] SRDO_SCT_timeout
  25 :  [8201] SRDO_SCT_timeout
  26 :  [8201] SRDO_SCT_timeout
  27 :  [8201] SRDO_SCT_timeout
  28 :  [8201] SRDO_SCT_timeout
  29 :  [8201] SRDO_SCT_timeout
  30 :  [8201] SRDO_SCT_timeout
  31 :  [8201] SRDO_SCT_timeout
  32 :  [8201] SRDO_SCT_timeout
  33 :  [800E] FAULT_ALIM_EXT
  34 :  [8201] SRDO_SCT_timeout
  35 :  [8201] SRDO_SCT_timeout
  36 :  [8201] SRDO_SCT_timeout
  37 :  [8201] SRDO_SCT_timeout
  38 :  [8201] SRDO_SCT_timeout
  39 :  [8201] SRDO_SCT_timeout
  40 :  [8201] SRDO_SCT_timeout
  41 :  [800E] FAULT_ALIM_EXT
  42 :  [8201] SRDO_SCT_timeout
  43 :  [8201] SRDO_SCT_timeout
  44 :  [8201] SRDO_SCT_timeout
  45 :  [800E] FAULT_ALIM_EXT
  46 :  [8201] SRDO_SCT_timeout
  47 :  [8201] SRDO_SCT_timeout
  48 :  [8201] SRDO_SCT_timeout
  49 :  [8201] SRDO_SCT_timeout
  50 :  [8201] SRDO_SCT_timeout
  51 :  [8201] SRDO_SCT_timeout
  52 :  [8201] SRDO_SCT_timeout
  53 :  [8201] SRDO_SCT_timeout
fig-shimooka commented 2 years ago

Closed, but there is still a problem with the emergency switch on the right motor being slow to reflect the state of the emergency switch. Can I assume these are the specifications?