5.5. Different FDCAN speeds between actuators
MD80 x CANdle ecosystem is not adopted for working with actuators of different FDCAN baudrates. Trying to
control actuators with different baud rates on a common FDCAN bus can cause the communication to fail or
not start at all. This is why it is crucial to make sure when you call the
mdtool ping all
command, all
discovered MD80 controllers lie in a single baudrate category. If thatʼs not the case, use the
mdtool config
can
command to fix it.
5.6. Too low torque bandwidth setting
When the torque bandwidth is set to a too low value it can cause the motor to behave improperly in highly
dynamic scenarios, for example, impacts. Because with low torque bandwidth, the torque controller gains
are set so that the controller is slow, it might not be able to keep up with the changing setpoint value. In
order to fix this issue, you can calibrate the motor for a higher torque bandwidth frequency. This has a
disadvantage connected to it - the higher the bandwidth the more audible noise you will hear coming from
the motor.
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