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guy@guy· 412 viewsin General Discussion

j6 axes limit

Hello,

I just finished to build my AR4 arm and I'm facing an issue. When I try to move an ax, I'm getting a J6 axes limit message and nothing happend.

I'm using AR4 2.1 with sketch v2.0.

I checked all cabling and everything seems to be OK. I also disconnectet the ethernet cable no 3. I'm always getting the same message.

Does anyone have an idea about this issue ?

With kind regards, Guy.

Comment 4

guy

Hello,

I installed Teensy sketch 2.2 and AR4 V2.2. I forced cal to 0° and force cal to vert. All sliders are set to 0. Then, I moved J4 a bit and it turned. I notices that J6 slider went to maximum, while it did not move, the message "J6 Collision or Motor Error" or "J6 Axis Limit" is displayed and the system is completely locked.

By the way, I can move only J4 before the error message is displayed.

I'm suspecting two potential issues:

  • noise on the sensor cables: some signals measured with a scope seems to be rather noisy.
  • power issue on the Teensy

Does anyone have an idea about this issue ?

With kind regards, Guy

r8183594

Have you "ticked" the encoder ignore boxes, and tried?

Does the robot "home" all axis to their limit switches?

r8183594

I'd confirm the limit switch functionality, then calibrate each axis.

guy

I put a scope on the lines and I noticed they are very noisy. The noise signal is reaching 2V level. I removed all the signal cables and I'm re-cabling with cat6e cables, paying attention to carefully grounding all shield in a star way to avoid ground loops.

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