Trouble Recovering from Collision

[wcdoug]

I have an app in Python with an xArm5 - where I need to recover from a collision. This was working great until I updated the firmware and Ufactory Studio to the 2.2.x releases. Essentially:

• When I have a collision, I automatically detect it and execute a function over and over until error is cleared
• I have the following set on the xARM: ...Collision Rebound: True/On ...Collision Detection: True/On ...Self-Collision Detection: True/On
• In the past, this worked great - until the firmware update
• Now it ever clears the error - and UFactory Studio has the message (whenever there is a collision: S40 Joint Undervoltage And a button to "Enable Robot"
• If I click that button - it re-enables the robot the and looping code returns the robot to working. However, I need this to happen from the code without with manual clock of the button - thoughts?

Here is my error clearing code:

def clear_robot_errors(self):
    self.update_status("...inside clear_robot_errors")
    self.update_status("......Clearing Errors")
    self.update_status(f"......Current Errors: {self.arm.error_code}")
    self.update_status(f"......Robot State: {self.arm.get_state()}")
    self.update_status( "......Enabling Motion")
    self.arm.motion_enable(True)
    self.arm.clean_warn()
    self.arm.clean_error()
    self.update_status( "......Enabling Motion")
    self.arm.motion_enable(True)
    self.arm.set_mode(0)
    self.arm.set_state(0)
    self.update_status( "......Enabling Motion")
    self.arm.motion_enable(True)
    time.sleep(1)
    self.update_status("......Finished Clearing errors")
    self.update_status(f"......Current Errors: {self.arm.error_code}")
    self.update_status(f"......Robot State: {self.arm.get_state()}")


    self.update_status("..Resetting to correct mode")

    self.arm.set_mode(7)
    self.arm.set_state(0)
    time.sleep(1)

    self.update_status("Finished Clearing errors")
    self.update_status(f"Current Errors: {self.arm.error_code}")
    self.update_status(f"Robot State: {self.arm.get_state()}")

    self.arm.motion_enable(enable=True)
    time.sleep(.5)

[wcdoug]

I should also note, that after the firmware upgrade, the rebound doesn't work anymore either after a collision.

[penglongxiang]

Hi @wcdoug, please download the log package through Ufactory Studio Settings->My Device and send to us for diagnosis. You may upload it here or send it to [email protected]. There is a way to downgrade the version, however, we will try to figure out the cause first.

[wcdoug]

Thanks…will send in about an hour…

On Wed, Dec 20, 2023 at 9:32 PM penglongxiang @.***> wrote:

Hi @wcdoug https://github.com/wcdoug, please download the log package through Ufactory Studio Settings->My Device and send to us for diagnosis. You may upload it here or send it to @.*** There is a way to downgrade the version, however, we will try to figure out the cause first.

— Reply to this email directly, view it on GitHub https://github.com/xArm-Developer/xArm-Python-SDK/issues/97#issuecomment-1865391256, or unsubscribe https://github.com/notifications/unsubscribe-auth/APXG4TOHAERVSRMMSNRGJFDYKONUJAVCNFSM6AAAAABA5EZYDGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQNRVGM4TCMRVGY . You are receiving this because you were mentioned.Message ID: @.***>

[wcdoug]

I sent in email...it won't let me upload a TAR file here.

[penglongxiang]

Hi @wcdoug, thanks for your log. The collision detection from firmware would work if the collision is not too heavy or sudden. I saw from the log that there are still detectable collisions from the motor current monitoring (if collision sensitivity is properly set, note sensitivity 0 would disable the collision detection from firmware), not all the collision detection fails.

However, if the collision happens too strong, the protection mechanism inside the motor hardware may first get triggered and disable the motor automatically, thus no more detection from the upper firmware controller. We would like to confirm this, could you provide a photo of the robot arm when the "S40 Joint Undervoltage" occurs? A video clip is even better for analysis.

BTW, if clicking the enable button can recover the operation of your program, it can be realized in your code by calling the motion_enable() + set_state(0) api.

[wcdoug]

Ok - let me see what I can grab. On the recovery piece, if you look at the code I sent, I am doing that sequence - but it doesn’t seem to work any more (it did work before the upgrade)

On Fri, Dec 22, 2023 at 2:35 AM penglongxiang @.***> wrote:

Hi @wcdoug https://github.com/wcdoug, thanks for your log. The collision detection from firmware would work if the collision is not too heavy or sudden. I saw from the log that there are still detectable collisions from the motor current monitoring (if collision sensitivity is properly set, note sensitivity 0 would disable the collision detection from firmware), not all the collision detection fails.

However, if the collision happens too strong, the protection mechanism inside the motor hardware may first get triggered and disable the motor automatically, thus no more detection from the upper firmware controller. We would like to confirm this, could you provide a photo of the robot arm when the "S40 Joint Undervoltage" occurs? A video clip is even better for analysis.

BTW, if clicking the enable button can recover the operation of your program, it can be realized in your code by calling the motion_enable() + set_state(0) api.

— Reply to this email directly, view it on GitHub https://github.com/xArm-Developer/xArm-Python-SDK/issues/97#issuecomment-1867340672, or unsubscribe https://github.com/notifications/unsubscribe-auth/APXG4TIA4LPJDGJCGPJBC4LYKUZ3XAVCNFSM6AAAAABA5EZYDGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQNRXGM2DANRXGI . You are receiving this because you were mentioned.Message ID: @.***>