[TechnosoftIpos] Unable to set velocity mode at first try

[PeterBowman]

I've noticed that mode change RPC commands fail for velocity control even if a [ok] acknowledge vocab is returned. It usually takes several tries to successfully switch modes, which doesn't take so long e.g. on position or position direct.

Useful commands:

• setter (single joint): set icmd cmod 0 vel
• getter (multiple joints): get icmd cmds

Tested on ASIBOT.

[PeterBowman]

First mode change command call sets bit 12 (Speed is 0) of Status word (object 6041h). Remark from section 11.1.2 Status word in profile velocity mode:

In order to set / reset bit 12 (speed), the object 606Fh , velocity threshold is used. If the actual velocity of the drive / motor is below the velocity threshold, then bit 12 will be set, else it will be reset.

The mode actually changes on the second try (Modes of operation display = 0x03).

[PeterBowman]

Can't replicate this anymore. Anyway, previous tests were run with EasySetup/EasyMotionStudio along with a RPC connection via terminal. I can only guess that this circumstance introduced delays that either prevented the CAN wrapper from successfully retrieving current mode, or made us see obsolete data on our end (while velocity mode was correctly set under the hood).

We could investigate the effect of lines like these on the overall performance (and correctness) of uploaded data (driver->client app). However, I'd deem it not urgent by now.