ERROR about the initialization of the ARX-X5 motors

Question

ERROR about the initialization of the ARX-X5 motors

Closed this issue 4 months ago · 11 comments

Question Description

python examples/test_joint_control.py X5 can0

Running the above code results the following error：

All motors are not initialized. Please check the connection or power of the arm.

Error: The initialization function of the Arx5JointController class in src/app/joint_controller.cpp reports the above error when calling _init_robot().

Wish to get your help. Thanks a lot!

Answer 1 · 2024-07-31T10:19:38.000Z

Hi Bohao. This is usually because your robot arm is not properly connected. Please check the CAN bus setup process in README.md and attach a screenshot of your network interfaces (using ip a) to this issue.

Answer 2 · 2024-07-31T10:27:22.000Z

If the setup procedure is done correctly, you will find a can0 interface that is connected to the arm.

Answer 3 · 2024-08-02T12:32:51.000Z

Thanks for your reply! I find a can0 interface indeed, but the trouble still exists. (SLCAN framework, sorry for not mentioning that)

In factly, I've tried using two slcan modules and got the same results.
(I have tested the official ARX5-sdk successfully.)

Answer 4 · 2024-08-03T05:38:53.000Z

Thanks for your information. Have you run the following code every time you plug in the CAN adapter?

sudo udevadm trigger
sudo slcand -o -f -s8 /dev/arxcan0 can0 && sudo ifconfig can0 up

Answer 5 · 2024-08-03T07:27:52.000Z

Thanks for your reminding. I run the code every time I plug in the CAN adapter but still failed.

Answer 6 · 2024-08-03T14:57:33.000Z

Hmmm this is weird. Maybe try to use a candlelight usb-can adapter?

Answer 7 · 2024-08-03T14:59:37.000Z

or check the can bus wire (try swapping the + and - data wire)

Answer 8 · 2024-08-04T11:15:24.000Z

or check the can bus wire (try swapping the + and - data wire)

hahaha，already tried that，but still thanks!

Answer 9 · 2024-08-04T11:15:47.000Z

Hmmm this is weird. Maybe try to use a candlelight usb-can adapter?

Yeah, I'll try it! Thanks!

Answer 10 · 2024-08-08T09:41:59.000Z

Is the candlelight framework working? Btw, I'm writing code for the original EtherCAT-CAN adapter. If you have time you can contact me via yihuai@stanford.edu and we can have a chat.

Answer 11 · 2024-08-09T02:45:07.000Z

Is the candlelight framework working? Btw, I'm writing code for the original EtherCAT-CAN adapter. If you have time you can contact me via yihuai@stanford.edu and we can have a chat.

Thanks very much! I just got a candleligtht framework and tried it successfully!!! So nice of you!!