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furushchev/l_wrist_l_motor

Created February 26, 2018 07:41
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l_wrist_l_motor
Full Name: /Motors/EtherCAT Device (l_wrist_l_motor)
Component: EtherCAT Device (l_wrist_l_motor)
Hardware ID: 68-05005-01779
Level: OK
Message: OK
Configuration: good
Name: l_wrist_l_motor
Position: 22
Product code: WG05 (6805005) Firmware Revision 1.22, PCB Revision F.02
Robot: PR2
Motor: Maxon 310009
Serial Number: 68-05005-01779
Nominal Current Scale: 0.000500
Nominal Voltage Scale: 0.006250
HW Max Current: 3.250000
SW Max Current: 1.720000
Speed Constant: 178.000000
Resistance: 2.520000
Motor Torque Constant: 0.053800
Pulses Per Revolution: 1200
Encoder Reduction: -1.000000
Status Checksum Error Count: 0
Safety Disable Status: ENABLED (00)
Safety Disable Status Hold: ENABLED (00)
Safety Disable Count: 11
Undervoltage Count: 11
Over Current Count: 0
Board Over Temp Count: 0
Bridge Over Temp Count: 0
Operate Disable Count: 1
Watchdog Disable Count: 1
MBX Command IRQ Count: 174
PDI Timeout Error Count: 0
PDI Checksum Error Count: 0
Supply Current: 0.048331
Configured Offset A: 0.014500
Configured Offset B: 0.041000
Mailbox Write Errors: 0
Mailbox Read Errors: 0
Mailbox Retries: 0
Mailbox Retry Errors: 0
Calibration Offset: 477.768544
Calibration Status: Calibrated by controller
Watchdog Limit: 100ms
Mode: ENABLE, CURRENT
Digital out: 254
Programmed pwm value: -3
Programmed current: -0.013000
Measured current: -0.013000
Timestamp: 212149952
Encoder count: 109558
Encoder index pos: 109558
Num encoder_errors: 0
Encoder status: 13
Calibration reading: 15
Last calibration rising edge: 93293
Last calibration falling edge: 115939
Board temperature: 42.562500
Max board temperature: 45.750000
Bridge temperature: 48.562500
Max bridge temperature: 51.500000
Supply voltage: 70.406250
Motor voltage: -0.143750
Current Loop Kp: 16
Current Loop Ki: 4
Motor Voltage Error %: -0.748997
Max Motor Voltage Error %: 56.134203
Abs Filtered Voltage Error %: 0.736842
Max Abs Filtered Voltage Error %: 54.111104
Current Error: -0.000005
Max Current Error: 0.082669
Abs Filtered Current Error: 0.000058
Max Abs Filtered Current Error: 0.016295
Motor Resistance Estimate: 5.110448
# Published traces: 7
Packet count: 61149
Drops: 0
Consecutive Drops: 0
Max Consecutive Drops: 0
Reset detected: No
Valid: Yes
EPU Errors: 77
PDI Errors: 0
Status Port 0: Has Link, Open, Has Comm
RX Error Port 0: 0
Forwarded RX Error Port 0: 77
Invalid Frame Port 0: 0
Lost Link Port 0: 0
Status Port 1: Has Link, Open, Has Comm
RX Error Port 1: 0
Forwarded RX Error Port 1: 77
Invalid Frame Port 1: 0
Lost Link Port 1: 0
Raw
l_wrist_r_motor
Full Name: /Motors/EtherCAT Device (l_wrist_r_motor)
Component: EtherCAT Device (l_wrist_r_motor)
Hardware ID: 68-05005-01788
Level: WARNING
Message: Potential problem with the MCB, motor, encoder, or actuator model.
Configuration: good
Name: l_wrist_r_motor
Position: 23
Product code: WG05 (6805005) Firmware Revision 1.22, PCB Revision F.02
Robot: PR2
Motor: Maxon 310009
Serial Number: 68-05005-01788
Nominal Current Scale: 0.000500
Nominal Voltage Scale: 0.006250
HW Max Current: 3.250000
SW Max Current: 1.720000
Speed Constant: 178.000000
Resistance: 2.520000
Motor Torque Constant: 0.053800
Pulses Per Revolution: 1200
Encoder Reduction: -1.000000
Status Checksum Error Count: 0
Safety Disable Status: ENABLED (00)
Safety Disable Status Hold: ENABLED (00)
Safety Disable Count: 11
Undervoltage Count: 11
Over Current Count: 0
Board Over Temp Count: 0
Bridge Over Temp Count: 0
Operate Disable Count: 1
Watchdog Disable Count: 1
MBX Command IRQ Count: 176
PDI Timeout Error Count: 0
PDI Checksum Error Count: 0
Supply Current: 0.051153
Configured Offset A: -0.020000
Configured Offset B: -0.025000
Mailbox Write Errors: 0
Mailbox Read Errors: 0
Mailbox Retries: 3
Mailbox Retry Errors: 0
Calibration Offset: 277.833224
Calibration Status: Calibrated by controller
Watchdog Limit: 100ms
Mode: ENABLE, CURRENT
Digital out: 254
Programmed pwm value: -14
Programmed current: -0.011000
Measured current: -0.011000
Timestamp: 209879552
Encoder count: 71765
Encoder index pos: 71765
Num encoder_errors: 0
Encoder status: 15
Calibration reading: 14
Last calibration rising edge: 52353
Last calibration falling edge: 52641
Board temperature: 42.937500
Max board temperature: 47.375000
Bridge temperature: 48.187500
Max bridge temperature: 52.562500
Supply voltage: 70.425003
Motor voltage: -0.181250
Current Loop Kp: 16
Current Loop Ki: 4
Motor Voltage Error %: 0.658361
Max Motor Voltage Error %: 78.932408
Abs Filtered Voltage Error %: 0.774653
Max Abs Filtered Voltage Error %: 77.090783
Current Error: -0.000099
Max Current Error: 0.078737
Abs Filtered Current Error: 0.000033
Max Abs Filtered Current Error: 0.016847
Motor Resistance Estimate: 4.173685
# Published traces: 22
Packet count: 61151
Drops: 0
Consecutive Drops: 0
Max Consecutive Drops: 0
Reset detected: No
Valid: Yes
EPU Errors: 77
PDI Errors: 0
Status Port 0: Has Link, Open, Has Comm
RX Error Port 0: 0
Forwarded RX Error Port 0: 77
Invalid Frame Port 0: 0
Lost Link Port 0: 0
Status Port 1: Has Link, Open, Has Comm
RX Error Port 1: 0
Forwarded RX Error Port 1: 77
Invalid Frame Port 1: 0
Lost Link Port 1: 0
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