Dephy motors don’t track the commanded

Support & Troubleshooting Hardware
1

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 control while the Dephy motors mounted on OSL, but the measured torques are less than the commanded

torque. The measured torques are around [-5, 5] Nm, while the commanded torques are [-50, 10] Nm.

In the unloaded condition, the measured torques are [-20, 10] Nm, while the commanded torques are still [-50, 10] Nm.

My questions are:

  1. any setting of Dephy I should check, such as I2t configuration? The firmware version I use is 7.2.0. And I am using default settings.
  2. any testing suggestion? I am planning to drive the motor on the OSL to a hard stop with a constant torque. Are there other suggestions for testing?

Any suggestions are much appreciated!

Thanks a lot!