[ergoCubSN000] Torso: changing of current limits and more #483
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| <param name="motorNominalCurrents"> 3770 3770 5000 </param> | ||
| <param name="motorPeakCurrents"> 14000 14000 10000 </param> | ||
| <param name="motorOverloadCurrents"> 18000 18000 15000 </param> | ||
| <param name="motorPwmLimit"> 10000 10000 10000 </param> |
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Why did we reduce also the PWM limit?
By contrast, I would tune these value to the full scale for both the joints. Being controlled in current, there's no harm in doing so.
The full scale is to be checked here.
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@pattacini We reduced the pwm limit to the same level as iCub3. In addition, the roll joint (which has the same motor as the pitch) has a power limit of 10000. So we made this choice.
However, should we increase it?
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yes, I agree, we can keep it at full scale.
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Let's go to the PWM full scale then!
We need to confirm its value first.
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Let's set them up to 16000. Even if it might not be the full-scale, it's certainly higher than 10000 and conservative wrt our old thresholds.
What changes?
This PR change the current limit of the torso roll and the torso pitch motors. This PR also changes the gearbox ratio between the pitch motor and the joint, due to a hardware intervention.
Note
These new current limits are safe because they were extracted from the motor datasheets, but the pitch is not able to stay in position 0 for more then 4/5 seconds when the robot is in home position. It falls in HW fault for i2t.
cc @maggia80 @sgiraz @Fabrizio69