Closed pattacini closed 4 years ago
Exactly in the tripod joints or in the torso yaw? If it is the torso yaw it is due to a misfunction of the fake hall sensors. In the latest version of the 2FOC fw there is a workaround (rare invalid values are ignored), still to be uploaded.
I was mainly referring to the tripod of the wrist.
We do experience frequent HW FAULT of the tripod joints while controlling the mechanism by means of the GUI.
cc @ale-git @randaz81