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									Motors failing due to checksum errors after downlo - Hardware				            </title>
            <link>https://www.animatics.com/forum/hardware/motors-failing-due-to-checksum-errors-after-downlo/</link>
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                        <title>Motors failing due to checksum errors after downlo</title>
                        <link>https://www.animatics.com/forum/hardware/motors-failing-due-to-checksum-errors-after-downlo/#post-382</link>
                        <pubDate>Sun, 19 Jan 2020 21:52:26 +0000</pubDate>
                        <description><![CDATA[Two motors were failing with errors: one motor returned checksum errors after program download, the other motor was faulting as “overtemperature” while cold.

The root cause was an analog ...]]></description>
                        <content:encoded><![CDATA[Two motors were failing with errors: one motor returned checksum errors after program download, the other motor was faulting as “overtemperature” while cold.

The root cause was an analog control in a user program that continuously issued a G command for 2 years. This caused a recalculation of trajectory and pinged current excessively forever. (The effect is similar to softly, repeatedly tapping a glass window with a hammer until one day it finally shatters.)

The checksum error was due to board breakdown, which resulted in common-ground noise.  The overtemperature error was due to fatigue failure of the current-sense resistor. Both were caused by a WHILE LOOP with an update to the PT and G commands. 

The solution was to rewrite the code to only issue a G command upon a dead-band offset change in commanded analog.]]></content:encoded>
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