When executing the command:
python lerobot/scripts/control_robot.py \
--robot.type=so100 \
--control.type=teleoperate
Motors 2 and 3 are blinking but not moving. What could be causing this issue?
What could be causing this issue?
-
Edward New
-
Edward New
All other motors are functioning properly.
-
Tom New
The blinking and non-responsive behavior of Servos 2 and 3 is typically caused by communication failures, insufficient power supply, or activation of servo protection mechanisms.
- Communication Failure or Interference
Symptoms: Servos fail to receive control signals and enter an error state (red LED blinking).
Possible Causes:
Poor contact or disconnection in the signal wires for Servos 2 and 3.
Communication protocol mismatch (e.g., incorrect baud rate) between the control board (e.g., OpenCR, Arduino) and the servos.
USB serial port occupied by other programs or driver malfunctions.
- Insufficient Power Supply
Symptoms: Voltage drops during simultaneous multi-servo operation, triggering low-voltage protection.
Typical Scenarios:
Underpowered adapter (e.g., rated 5V/2A but fails to deliver).
Excessive voltage drop due to long/undersized power cables (high resistance).
- Servo Software Configuration Errors
Symptoms: Incorrect servo control mode (position/speed/torque) or parameter misconfiguration (e.g., PID gains).
Possible Causes:
Improper servo parameter definitions in the so100 configuration file (e.g., so100_config.yaml) within control_robot.py.
Servo ID conflicts (e.g., multiple servos sharing the same ID).
- Servo Hardware Fault
Symptoms: Internal circuitry damage (e.g., MOSFET, encoder).
Triggers:
Prolonged overload, short circuits, or electrostatic discharge.
Physical impacts causing gear jams.
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