Error when trying to enable servos on Elfin

igorrecioh commented 5 years ago

Hi!

I have been following the steps provided here.

I am able to see actual position in RViz but when I try to Servo ON from the Elfin Control Panel I get this errors:

[ WARN] [1550159223.426480973]: setEnable phase2 in slave 3 failed
[ WARN] [1550159223.426842752]: setEnable phase2 in slave 2 failed
[ WARN] [1550159223.427466899]: setEnable phase2 in slave 1 failed
[ERROR] [1550159243.537458192]: can't start elfin_arm_controller, because module[0] is not enabled
[ERROR] [1550159243.537593708]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.

Not sure what is going on. Any help will be useful. Thanks in advance!

onionsflying commented 5 years ago

That's a little weird. Could you show me the TxPDOs before and after "Servo ON"? You can get TxPDOs using the service elfin_ros_control/elfin/get_txpdo. Besides, you can get more information about services in this document.

igorrecioh commented 5 years ago

Hi @onionsflying ! Thanks for your answer. Find attached a gist with the results before and after "Servo ON": https://gist.github.com/igorrecioh/43de2f43307bd7f99b5755b26be8af71

onionsflying commented 5 years ago

Hi, the reason of the error is that the voltage is too low. Please note that the nominal voltage is 48V DC.

igorrecioh commented 5 years ago

Hi @onionsflying! You were right, we had some issues with our power supply. Now Elfin is working fine.

Thanks for your support!

hans-robot / elfin_robot

Error when trying to enable servos on Elfin #16