# Support & Troubleshooting **URL:** https://opensourceleg.discourse.group/c/help/12.md [Latest](https://opensourceleg.discourse.group/latest.md) · [Categories](https://opensourceleg.discourse.group/categories.md) --- ## [Having Issues? Let’s Figure It Out Together](https://opensourceleg.discourse.group/t/having-issues-let-s-figure-it-out-together/22)
**Author:** [@OSL\_Admin2](https://opensourceleg.discourse.group/u/OSL_Admin2)\ **Replies:** 0\ **Last updated:** [July 1, 2025, 9:46pm UTC](https://opensourceleg.discourse.group/t/having-issues-let-s-figure-it-out-together/22 "2025-07-01T21:46:36Z")
This category exists to help users solve problems and move forward confidently. Whether you’re assembling hardware, debugging a control script, or wiring up your DAQ, this is the place to ask questions and get support. W… --- ## [Cooling solution](https://opensourceleg.discourse.group/t/cooling-solution/221)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 14\ **Last updated:** [October 9, 2026, 3:44pm UTC](https://opensourceleg.discourse.group/t/cooling-solution/221 "2026-10-09T15:44:37Z")
Hi. I was wondering what cooling solution you use for the Raspberry Pi 5/CM5? When running my control code, CPU usage is between 70-80%, and the temperature is 80-86 C. The system flags indicate throttling due to reach… --- ## [General codebase help](https://opensourceleg.discourse.group/t/general-codebase-help/255)
**Author:** [@dietcokeisbest](https://opensourceleg.discourse.group/u/dietcokeisbest)\ **Replies:** 0\ **Last updated:** [September 25, 2026, 12:20am UTC](https://opensourceleg.discourse.group/t/general-codebase-help/255 "2026-09-25T00:20:35Z")
Hi all, Planning on building two OSLs for myself. I have a decent compsci background but would love a hand getting my head around the codebase. Is anyone available to answer some questions or hop on a call? Thanks! --- ## [Alternative bearings](https://opensourceleg.discourse.group/t/alternative-bearings/251)
**Author:** [@feldk066](https://opensourceleg.discourse.group/u/feldk066)\ **Replies:** 0\ **Last updated:** [September 4, 2026, 12:58pm UTC](https://opensourceleg.discourse.group/t/alternative-bearings/251 "2026-09-04T12:58:08Z")
Hello, We’re looking to find a couple replacement ball bearings as some of ours got damaged. Has anyone found cheaper alternatives than McMaster or Motion Industries to source these parts, and if so what your experienc… --- ## [Housing for AS5048B encoder](https://opensourceleg.discourse.group/t/housing-for-as5048b-encoder/242)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 4\ **Last updated:** [August 14, 2026, 7:08pm UTC](https://opensourceleg.discourse.group/t/housing-for-as5048b-encoder/242 "2026-08-14T19:08:12Z")
Hi. In our setup, the default output encoder mount is used for mounting the Dephy AK7452 encoder board. It is part p\_b0303\_encoderHousing in the assembly (shown in the photo for the knee joint). Because we’re plannin… --- ## [Old Battery Case File](https://opensourceleg.discourse.group/t/old-battery-case-file/240)
**Author:** [@jpalacio06](https://opensourceleg.discourse.group/u/jpalacio06)\ **Replies:** 2\ **Last updated:** [August 5, 2026, 5:21pm UTC](https://opensourceleg.discourse.group/t/old-battery-case-file/240 "2026-08-05T17:21:24Z")
Hi. I was looking for the model of the knee battery case and noticed there was a new model. Is the file for the old model available? --- ## [Timing belt specs](https://opensourceleg.discourse.group/t/timing-belt-specs/234)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 2\ **Last updated:** [July 8, 2026, 7:55pm UTC](https://opensourceleg.discourse.group/t/timing-belt-specs/234 "2026-07-08T19:55:56Z")
Hi everyone, I’m looking to replace the timing belts on the OSL. When looking at the BOM for both the knee and ankle, I noticed there are two different codes listed: GT3-5mm-325mm-belt (5mm pitch, 325mm length) GT… --- ## [Experimental flat foot](https://opensourceleg.discourse.group/t/experimental-flat-foot/228)
**Author:** [@tadeo.casiraghi](https://opensourceleg.discourse.group/u/tadeo.casiraghi)\ **Replies:** 1\ **Last updated:** [July 8, 2026, 4:12pm UTC](https://opensourceleg.discourse.group/t/experimental-flat-foot/228 "2026-07-08T16:12:48Z")
Hello everyone, We’re currently working on building a local functional approximation of the Open Source Leg flat foot due to budget constraints. I’ve searched through the University of Michigan OSL website and repositor… --- ## [I2tLimitException](https://opensourceleg.discourse.group/t/i2tlimitexception/202)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 8\ **Last updated:** [June 29, 2026, 12:26am UTC](https://opensourceleg.discourse.group/t/i2tlimitexception/202 "2026-06-29T00:26:05Z")
I have a simple loop where I read IMU, loadcell (through actpack), and actuator data and write to logs. I get these errors related to thermals curves, seemingly at random times. Example 1: \[2026-04-07 14:59:54,643\] IN… --- ## [DAQ 'max output current' vs current consumption](https://opensourceleg.discourse.group/t/daq-max-output-current-vs-current-consumption/219)
**Author:** [@Axel](https://opensourceleg.discourse.group/u/Axel)\ **Replies:** 0\ **Last updated:** [June 3, 2026, 8:37pm UTC](https://opensourceleg.discourse.group/t/daq-max-output-current-vs-current-consumption/219 "2026-06-03T20:37:25Z")
Hello, I am estimating battery life for a system that uses your DAQ board. The DAQ specifications list a “Max output current” of 250 mA. For my power-budget calculations, I would like to inquire about the DAQ board’s c… --- ## [Higher Soft real time Frequency](https://opensourceleg.discourse.group/t/higher-soft-real-time-frequency/205)
**Author:** [@Sani\_Hasan](https://opensourceleg.discourse.group/u/Sani_Hasan)\ **Replies:** 1\ **Last updated:** [May 9, 2026, 3:06pm UTC](https://opensourceleg.discourse.group/t/higher-soft-real-time-frequency/205 "2026-05-09T15:06:41Z")
Hey, I was wondering what is the Highest frequency I can do on the OSL without losing data, every example shows 200 Hz and runs get choppy and there is data drops at 500 Hz as other posts have indicated the highest I hav… --- ## [Variflex variants or flat foot](https://opensourceleg.discourse.group/t/variflex-variants-or-flat-foot/201)
**Author:** [@tadeo.casiraghi](https://opensourceleg.discourse.group/u/tadeo.casiraghi)\ **Replies:** 0\ **Last updated:** [April 1, 2026, 7:27pm UTC](https://opensourceleg.discourse.group/t/variflex-variants-or-flat-foot/201 "2026-04-01T19:27:26Z")
Hi everyone, I’ve been looking into the Onshape design that uses the Össur Vari-Flex LP foot, and I had a few questions I’m hoping someone here might be able to clarify: What size of the Össur Vari-Flex LP foot is us… --- ## [Loadcell measurement spikes](https://opensourceleg.discourse.group/t/loadcell-measurement-spikes/196)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 3\ **Last updated:** [March 31, 2026, 5:18pm UTC](https://opensourceleg.discourse.group/t/loadcell-measurement-spikes/196 "2026-03-31T17:18:58Z")
Hi. The OSL is mounted on a test setup. I obtain the loadcell readings through the Dephy motor. In this test, I pushed the shank segment in three directions at the joint limit. The corresponding changes are clear in the… --- ## [5V DC Convertor for RPi 5](https://opensourceleg.discourse.group/t/5v-dc-convertor-for-rpi-5/190)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 5\ **Last updated:** [March 20, 2026, 9:00pm UTC](https://opensourceleg.discourse.group/t/5v-dc-convertor-for-rpi-5/190 "2026-03-20T21:00:01Z")
Hi. What DC convertor part do you recommend for coverting the battery output for RPi 5? Is this a good option? THN 30-4811WI https://www.digikey.com/short/h1p0bp42 There is also an adjustable version, but I’m not sur… --- ## [Dephy motors don’t track the commanded](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197)
**Author:** [@porteparlevent](https://opensourceleg.discourse.group/u/porteparlevent)\ **Replies:** 0\ **Last updated:** [March 16, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197 "2026-03-16T14:01:33Z")
Hi everyone, I am testing control with OSL. The issue I have is the measured torques don’t match the commanded torques with the Dephy motor in both loaded and unloaded condition. In the loaded condition, I tested a con… --- ## [Fz loadcell spikes and calibration issue](https://opensourceleg.discourse.group/t/fz-loadcell-spikes-and-calibration-issue/191)
**Author:** [@mioki](https://opensourceleg.discourse.group/u/mioki)\ **Replies:** 1\ **Last updated:** [February 25, 2026, 4:18pm UTC](https://opensourceleg.discourse.group/t/fz-loadcell-spikes-and-calibration-issue/191 "2026-02-25T16:18:50Z")
Hi all, I’m a graduate student using the OSL v2 with the Dephy loadcell amplifier for a prosthetic leg control project. I’m the 4-state FSM impedance controller for walking (e\_stance → l\_stance → e\_swing → l\_swing) and … --- ## [Issues during startup (Loadcell/ADC)](https://opensourceleg.discourse.group/t/issues-during-startup-loadcell-adc/182)
**Author:** [@Konrad](https://opensourceleg.discourse.group/u/Konrad)\ **Replies:** 3\ **Last updated:** [February 15, 2026, 5:00pm UTC](https://opensourceleg.discourse.group/t/issues-during-startup-loadcell-adc/182 "2026-02-15T17:00:18Z")
Hi, I am a student using the OSL for research and been able to preform the basic motion test (homing joints, setting desired angles, etc.) but when I try using the compiled controller or any usage of the Loadcell/ADC sen… --- ## [Signals for dynamic parameter identification](https://opensourceleg.discourse.group/t/signals-for-dynamic-parameter-identification/187)
**Author:** [@mioki](https://opensourceleg.discourse.group/u/mioki)\ **Replies:** 2\ **Last updated:** [February 9, 2026, 8:43am UTC](https://opensourceleg.discourse.group/t/signals-for-dynamic-parameter-identification/187 "2026-02-09T08:43:28Z")
Hi everyone, I’m opening a new thread to better explain my use case and ask for guidance on dynamic parameter identification with the OpenSourceLeg 2.0 (knee + ankle, Dephy Actpack). Context My final goal is offline in… --- ## [“Cannot set motor position in mode c\_int(1)”](https://opensourceleg.discourse.group/t/cannot-set-motor-position-in-mode-c-int-1/184)
**Author:** [@mioki](https://opensourceleg.discourse.group/u/mioki)\ **Replies:** 7\ **Last updated:** [January 30, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/cannot-set-motor-position-in-mode-c-int-1/184 "2026-01-30T14:01:39Z")
Hi everyone, I’m working with an OpenSourceLeg setup (knee + ankle, Dephy Actpack) and I consistently get the following warning right after homing, when starting a simple position-control script: WARNING: \[knee\]\[DephyA… --- ## [OSL emergency shut down button](https://opensourceleg.discourse.group/t/osl-emergency-shut-down-button/180)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 5\ **Last updated:** [January 29, 2026, 8:00pm UTC](https://opensourceleg.discourse.group/t/osl-emergency-shut-down-button/180 "2026-01-29T20:00:05Z")
Hi. How can we add an emergency shutdown button to turn off the motors through hardware or software? --- ## [Sampling data at a lower frequency](https://opensourceleg.discourse.group/t/sampling-data-at-a-lower-frequency/175)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 6\ **Last updated:** [January 21, 2026, 8:06pm UTC](https://opensourceleg.discourse.group/t/sampling-data-at-a-lower-frequency/175 "2026-01-21T20:06:04Z")
Hello all and happy new year:) I was recording data using the OSL running the FSM with a set frequency at 200Hz, which is also the default set within the OSL github repos. However, I noticed that the t variable I am get… --- ## [SoftRealtimeLoop frequency error](https://opensourceleg.discourse.group/t/softrealtimeloop-frequency-error/179)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 0\ **Last updated:** [January 16, 2026, 11:39pm UTC](https://opensourceleg.discourse.group/t/softrealtimeloop-frequency-error/179 "2026-01-16T23:39:07Z")
In a simple example code, increasing the SoftRealtimeLoop clock frequencies around 200-300 Hz seems fine. But at 400 Hz, I get RuntimeError: Command: \_stream\_without\_safety failed I was not able to pinpoint the source … --- ## [The ankle joint range of motion and homing](https://opensourceleg.discourse.group/t/the-ankle-joint-range-of-motion-and-homing/173)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 4\ **Last updated:** [January 16, 2026, 3:33pm UTC](https://opensourceleg.discourse.group/t/the-ankle-joint-range-of-motion-and-homing/173 "2026-01-16T15:33:16Z")
Hi. After running homing\_joint.py in either direction for the ankle joint in either direction and then reading\_sensor\_data.py to read the encoder position, I get, Dorsiflexion: 36.4 degs Plantarflexion: -7.6 degs The … --- ## [Question about the fields in DataLog files](https://opensourceleg.discourse.group/t/question-about-the-fields-in-datalog-files/178)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 0\ **Last updated:** [January 15, 2026, 8:29pm UTC](https://opensourceleg.discourse.group/t/question-about-the-fields-in-datalog-files/178 "2026-01-15T20:29:36Z")
Hi. When running the example codes in the dephy folder, measurements related to the motor are also recorded in the DataLog folder. A few questions: 1- What is sys\_time? 2- What is state\_time? 3- Is it possible to retr… --- ## [Anyone else encountering this in live data plots?](https://opensourceleg.discourse.group/t/anyone-else-encountering-this-in-live-data-plots/162)
**Author:** [@Sani\_Hasan](https://opensourceleg.discourse.group/u/Sani_Hasan)\ **Replies:** 3\ **Last updated:** [January 3, 2026, 8:57am UTC](https://opensourceleg.discourse.group/t/anyone-else-encountering-this-in-live-data-plots/162 "2026-01-03T08:57:43Z")
Hey, So i was plotting live data on the osl pf just the ankle swing recording the following, Command degree, measured degrees, motor current and sample count, i am kind of worried about the steps as they are showing up, … --- ## [Has someone ever setup the OSL in an ankle only mode?](https://opensourceleg.discourse.group/t/has-someone-ever-setup-the-osl-in-an-ankle-only-mode/163)
**Author:** [@Sani\_Hasan](https://opensourceleg.discourse.group/u/Sani_Hasan)\ **Replies:** 3\ **Last updated:** [January 3, 2026, 8:54am UTC](https://opensourceleg.discourse.group/t/has-someone-ever-setup-the-osl-in-an-ankle-only-mode/163 "2026-01-03T08:54:00Z")
Hey, i am looking for help in setting up the OSL in an ankle only mode and what that would look like or where i could find some instructions about removing the knee motor and having the pi on the anle motor only if that … --- ## [OSL belt re-tensioning](https://opensourceleg.discourse.group/t/osl-belt-re-tensioning/171)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 5\ **Last updated:** [December 31, 2025, 9:42am UTC](https://opensourceleg.discourse.group/t/osl-belt-re-tensioning/171 "2025-12-31T09:42:11Z")
I’m working with the OSL and need to re-tension the belts (for the knee/ankle). Has anyone had to do this before? If so, I’d really appreciate: any step-by-step instructions you followed, any tips on how you verif… --- ## [FSM walking controller - motor disconnecting](https://opensourceleg.discourse.group/t/fsm-walking-controller-motor-disconnecting/165)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 0\ **Last updated:** [December 8, 2025, 3:37am UTC](https://opensourceleg.discourse.group/t/fsm-walking-controller-motor-disconnecting/165 "2025-12-08T03:37:29Z")
I have been trying to make the Finite State Machine (FSM) walking controller work for the OSL. However, I am encountering a critical failure where my ankle motor shuts down after a while, under the following error: I… --- ## [OSL Electronics Listing – Temporary Outage](https://opensourceleg.discourse.group/t/osl-electronics-listing-temporary-outage/161)
**Author:** [@OSL\_Admin2](https://opensourceleg.discourse.group/u/OSL_Admin2)\ **Replies:** 0\ **Last updated:** [November 21, 2025, 8:27pm UTC](https://opensourceleg.discourse.group/t/osl-electronics-listing-temporary-outage/161 "2025-11-21T20:27:05Z")
This issue has been fixed as of Nov 28 The purchasing page for the OSL Electronics Board is temporarily unavailable due to a vendor-side display issue. If you need to request a board while the listing is down, please e… --- ## [Joint Encoders using I2C ports](https://opensourceleg.discourse.group/t/joint-encoders-using-i2c-ports/150)
**Author:** [@anushkarathi](https://opensourceleg.discourse.group/u/anushkarathi)\ **Replies:** 1\ **Last updated:** [November 10, 2025, 4:57pm UTC](https://opensourceleg.discourse.group/t/joint-encoders-using-i2c-ports/150 "2025-11-10T16:57:26Z")
hey everyone! I ran into an issue when using the electronics interface board with the neurobionics image where the joint encoders were updating slowly and dragging down the control loop (at a set frequency of 300 Hz). A… [Next page](https://opensourceleg.discourse.group/c/help/12.md?page=1)