xm430-w350 overload error

[is3rlab]

Hi everyone,

I currently on a WidowX-250 6DOF robot arm. When I test it, the motor 6 shows overload error. When I used the Dynamixel Wizard tool reboot the motor or unplug & replug the power, the error and red light will dismiss. However, when I try it again, the error and red light will come back again. Please check the below picture:

So can anyone help me solve this?

Thank you very much for your help!

Best.

[shiba-8ro]

@is3rlab
Things you can try right away.

1. Check that the tips of the screws that secure the frame to the servo horn and idler are not touching the servo case and causing a load.
2. The washer attached to the neck of the servo horn often fails to attach and becomes a load.
3. FW recovery https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-recovery
   If that doesn't work, unfortunately, that XM430 will require hospitalization.

[is3rlab]

@shiba-8ro
Thank you for your suggestions.
For the suggestion 1 and 2, do I need to detach and open the motor to check?
Also I want to update some additional information, the wrist joint use to get stuck in 90 degree angle and I did not know how to turn it back to normal position. Please check the picture:

Occasionally, I restart the robot and run the command: rosservice call /locobot/torque_enable "{cmd_type: 'group', name: 'all', enable: false}", the wrist joint release.

For the worst case requiring hospitalization, what should I do?

Thanks

[shiba-8ro]

@is3rlab
Looking at the photo, you may not have installed the servo horn correctly.
Check that the mark on the output shaft of the XM430 matches the mark on the servo horn.