When I try to callibrate joint 5 via AR4.exe, the joint overshoots in the positive direction, hitting the physical limits of the linear actuator and stalling the motor. Disconnected the actual joint itself for the video but the same result happens in the linear actuator. In video you can hear the limit switch working as well as the motor stalling.
Any ideas of what's wrong?
Hello, have you run the test limit switch program? I would recommend verifying that at the teensy board pin 30 for the J5 limit switch is registering a solid GND when the switch is not made and a solid 3.3v when the switch is made.
I ran the test limit switch program and it functioned as expected. Pin 30 functions as you described. I tried updating to the beta 5.0 versions for both the HMI and Teensy sketch and it resolved the problem of the motor stalling, however the joint still has issues. Jogging the joint in either direction results in "J5 Collision or Motor Error". It also outputs "J5 Axis Limit" when moving in the negative direction well before coming in contact with the limit switch. When moving in the positive direction, it does not encounter an Axis Limit before the point where the motor would stall.
To confirm, the negative direction should be moving the belt carrier away from the J5 motor and the positive direction should be moving it towards it, correct? Wanted to confirm in case I am reading the diagrams wrong, but I think I have it right based on how the calibration is working with the limit switch.
@haochen-gao The negative direction should move the end effector upward - the carrier toward the limit switch. Have you double checked the J5 driver dip switch setting just to make sure the micro steps are correct? and amperage is correct?
@chris-annin Fixed! Thanks for pointing out the DIP switch settings, this was the issue. Somehow I had set J1-J4 correctly but J5 and J6 were incorrect. Works perfectly now, thanks again!
