Hi, I’m using cube mars RI50 motor to drive a harmonic drive (Self locking)
I was wondering if i can tell the controller to completely disengage from the motor to stop the stall current and heat since the gears are not back drivable and will lock mechanically,
And sorry I’m kinda new to this
There’s no built-in system for it, but I had some success experimenting with it a couple weeks ago here using the also-experimental angle_nocascade mode.
What kind of position sensor are you using? When I tried a 14-bit AS5048A, the jitter while holding position was so small that it doesn’t really seem necessary to disengage.
EDIT: Oops, failed to read the post title. In open loop, you can probably just set motor.voltage_limit = 0 if the target hasn’t been changed recently.