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hmartiro / project-thesis

xJüs, the hexapodal robot with a passive-backbone to improve behavior over harsh terrain.
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Unknown errors #103

Closed hmartiro closed 11 years ago

hmartiro commented 11 years ago

Issue opened up

Hello,

We have six EPOS2 controllers #390438 in a CAN network being driven from a Linux computer via the C++ library. The firmware and software are Epos_2124h_6020h_0000h_0000h.bin and 4.9.1.0, respectively. (we realize you released new versions on April 11, we will get those shortly).

We are driving 22W motors #226806 using IPM mode. However, when we try to go at relatively high speeds, the controllers fall into fault state. However, the error code remains zero and the IPM status reports velocity and acceleration warnings but no errors. Our max velocity and max acceleration values are set very high, so this limit is not the one being hit (plus the velocity and acceleration errors are not set). What is happening and how can we prevent these errors?

PayneTrain commented 11 years ago

Haj: Possibly Max Permissible speed (8700??)