From what I understand, some buzzing from servos isn't necessarily a bad thing. It's basically constantly trying to hold its position. So if there's anything that could be causing any sort of slight load against the server (such as the gripper gears binding ever so slightly), it could be fighting against this and creating the buzz.
That being said, there is one thing you can check. During the build, I'm assuming you ran the "Servo Centering" routine? This ends up leaving the servo in a known position. (In this case, I think it's 110 for the gripper servo.) Then you have to install the gripper in a specific position, to match the know position of the servo. (Following the pictures in the install manual.) When you power up Spirit, it moves to servos to specific location. In the case of the gripper, it's opening the gripper up. If you installed the gripper too wide (open too far) to begin with, when it attempts to open the gripper during power on, it could be trying to open the gripper wider than what it physically can. You could try removing the gripper arms, and reinstalling just slightly more closed than what they currently are, and see if that helps reduce the buzz.
Of course, I'm still fairly new to this myself, so if anyone knows better, please speak up!Statistics: Posted by romamaker — Mon Oct 30, 2017 5:21 pm
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