Annin Robotics
CommunityShop kits
← General Discussion
Alaeddine Brahem@alaeddinebrahem· 341 views

AR4_teensy41_CUI_enc_sketch (BETA) calibration issue

Hello, we try to implement AR4 AR4_teensy41_CUI_enc_sketch (BETA) in AR3 but no joint calibration work fine all are false

is there any modification ? we also change our motor steps per degree in order of our Driver Motors also DH-Parameters but still false

the joint still work like no switch is there for stop it move for custum steps and stop no stop with switchers.

Comment 8

Chris Annin

Were all your limit switches and joint calibrations working with the AR3 software? I will start looking into this. If anyone else is having this issue please let me know.

Alaeddine Brahem

yes working fine also when we check test switch program all working fine but the problem, in calibration CALL FUNCT TO DRIVE BACK TO LIMITS SLOWLY not working also but in the interface tell us that calibration seccuessful

zuolin1977

I have been testing AR4 software on AR3, the calibration works fine for me. I was able to adjust offsets for each joint. One thing I noticed is the angle from limit switch to 0 is not adjusted with the offset. So if I jog the robot to the extreme position, the limit switch is pressed too hard. Another thing that prevents me from further testing is Joint 1 gives me a 'collision or motor error' if I jog it slightly.

Chris Annin

Thank you for the feedback on that. If you disable that encoder for J1 in the software does it still give you that error? I suspect a wiring or encoder issue.

Chris Annin

Is it driving to the limit switches and then slightly back off of them? If the motion is not as expected can you send me a quick video?

zuolin1977

Thanks, that solves the problem! I think for some reason the two pins are flipped for the CUI encoder compared to the new encoder. A side note, I found the wiring diagram on page 221 of the AR4 manual really confusing. The color of the cables and the numbering of each wire is completely different than page 250. I have to trace each wire by number, not by color.

Chris Annin

Got it, someone else just pointed that out as well. I will figure out which part of the schematic I messed up and get it fixed tonight. Thank you for pointing that out.

Chris Annin

It looks like I had 2 different keystone jacks that were numbered differently that goofed me up. I fixed the wiring on page 221 and published version 1.1 of the manual. Let me know if you have any feedback or see any issues. I apologize for the issue.

8 replies

Photos