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Motor Basics

Notes:

  • Enable all CAN interfaces before use
  • Depends on openarmx_arm_driver
  • 10 ms delay between motor commands to avoid bus congestion
  • Script path: /home/openarmx/openarmx_ws/src/openarmx_motor_manager/scripts

Enable All Motors

Script: en_all_motors.py

Function: auto-detect CAN channels and send enable commands to motor IDs 1-8.

Usage:

python3 ./en_all_motors.py

Disable All Motors

Script: dis_all_motors.py

Function: auto-detect CAN channels and send disable commands to motor IDs 1-8.

Usage:

python3 ./dis_all_motors.py

Check Motor Status

Script: check_motor_status.py

Function: scan motor IDs 1-8 on available CAN channels and display status.

Usage:

python3 ./check_motor_status.py

Displayed fields:

  • CAN ID
  • Current angle (rad)
  • Current velocity (rad/s)
  • Current torque (Nm)
  • Motor temperature (°C)
  • Control mode (Reset/Cali/Motor)
  • Fault status

Do not run during MoveIt control. It may disable motors and cause arm drop.

Set Motor Zero

Script: set_motor_zero.py

Function: send set-zero command to motor IDs 1-8.

Usage:

./set_motor_zero.py

Notes:

  • Ensure arm is at the desired zero posture before setting
  • This operation overwrites previous zero offset