By using the gap between the iternal encoder inside the dynamixel servo and the external magnetic encoder, the servo pulley skip error can be detected with a skip threshold.
Detail
If the pulley skip is detected, the power of the servo will be stopped until the neuron board is reboot. The pulley_skip_error can be confirmed from rqt UI (board config), and the board can be also rebooted from the same rqt UI.
What is this
By using the gap between the iternal encoder inside the dynamixel servo and the external magnetic encoder, the servo pulley skip error can be detected with a skip threshold.
Detail
If the pulley skip is detected, the power of the servo will be stopped until the neuron board is reboot. The
pulley_skip_errorcan be confirmed from rqt UI (board config), and the board can be also rebooted from the same rqt UI.