Annin Robotics
CommunityShop kits
← General Discussion
Nhan Truong@alexxcoolx· 847 views

J6 Motor Error

Hello,

I am in the troubleshooting process of my AR4 robots

Everything seems to works fine except my J6 motor

For some reason my J6 motor keep getting error in every line of code when I run the robot program

I tried to troubleshooting by checking all wires, replacing a new cable for J6 motor, jog only the J6 motor as well as running calibrating separately for the J6 motor and encoder test for the robot and every tests its completely fine, but when I start running the program its keep getting error again.

Can someone help me troubleshooting this problem

Thank you

Comment 7

Chris Annin

If you go to the config tab and put J6 in open loop mode does J6 work as expected when running a program? If so can you verify J6 is turning the correct direction per the manual startup procedure? I assume you have AR4 motors and not the AR3 motors with CUI encoders?

Nhan Truong

Thank you for your response Chris

Yes I'm using all the components from the AR4 manual

I have changed all the Joints to open loop mode and the program work smoothly as expected now

I wonder if this is because of the motor encoders problem?

If so is there anyway I can troubleshooting this?

Chris Annin

It could be a wiring issue or noise issue with the J6 encoder. I would double check all the wiring. Are you using shielded ethernet cables from the base of the robot to the enclosure?

Nhan Truong

yes all the wired from the robot base to the enclosure is all shielded ethernet cables.

Should I replace all the encoder wires on the robot to shielded ethernet cables to ultimately reduce the noise issues? or is there another way that I can get through with this issue?

Tai Nguyen Van

Did you fix the error? I am getting the same it as you.

Nhan Truong

Yes, apparently there is something wrong with the signal from the encoder (probably noise) that keep making the encoder sending warning about the collision of the robot. After I decide to turn off all the encoders the robot arm works just fine However, that means the encoder will be in no use, so now I am trying to shield all connection cables and ground them to prevent all the noise that affect the signal.

Chris Annin

Did you use shielded continuous flex CAT6 when building the robot?

7 replies

Photos