FAQ

1. Overshoot Occurs in Profile Position Mode

• This is overshoot behavior 过冲.mp4

• This is normal behavior 正常.mp4

• This may be due to the current value of the three control quantities, current, speed, and position, which need to be input in this mode being too small. The current value needs to be increased.

1. The actuator (not powered) vibrates violently or the friction increases significantly when rotating

   This is because the actuator has been used for a long time or the rotation speed is too fast, which causes the reducer to be worn too much and needs to be replaced.

2. The actuator is stuck after a violent impact during rotation and cannot rotate again

   This is because there is a stuck tooth in the reducer, and the reducer needs to be returned to the factory for repair or replacement

3. The actuator cannot output an output value close to the peak torque

   The current limit setting in the actuator is too small, so the current limit value needs to be increased in the host computer.

4. In current mode, the actuator responds slowly (the current changes slowly)

   The current loop pi value is set to a small value. The current loop pi value can be modified in the code or host computer.

5. The actuator vibrates violently when using velocity mode or profile position mode

   It may be because the current loop pi is set too large, and the current changes too drastically in the bottom-level regulation. Reduce the current loop pi value.

6. The current mode can be used normally, but it cannot rotate in the speed mode and contour position mode (tested on the host computer)

   This may be because the actuator's rotation direction has been changed (the content of the motor parameter preset) without recalibration. Recalibration is sufficient.