2850 vs 2850HE

<P style="MARGIN: 0px">Cosma,
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<P style="MARGIN: 0px">We have been developing our robotic software suite using the 2850. For a final version of the robot, we ordered the 2850HE version, and now we are having an issue.
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<P style="MARGIN: 0px">One side of the robot is not operating in its closed loop mode correctly, i.e. it is not attempting to stop the wheels from turning in a correct fashion when force is applied to them when the robot is at rest. Instead of trying to keep the wheels steady, it applies quite a bit of power (opposite to the direction you push on them with).
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<P style="MARGIN: 0px">We thought initially it was a hardware problem, that maybe an optical encoder got its polarity reversed or something, but upon testing with Roborun in closed loop mode, the wheels exhibit correct behavior.
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<P style="MARGIN: 0px">What I then noticed is that after the controller has been initialized using my software and I then read its state with roborun, every parameter is as I set it, with the exception of "amps limit". In my code, I use the command "^02 00" to set the amps limit to 30 Amps, but after that code is run, the controller shows it is set at 50 Amps (and only allows the amps to be changed to 36 amps in roborun).
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<P style="MARGIN: 0px">Being as all of my other parameter setting commands seem to have worked, is there a difference between the 2850 and 2850HE versions as far as setting the amps goes that could cause this odd operation in the motor controller?
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<P style="MARGIN: 0px">Thanks,
<P style="MARGIN: 0px">Barry O'Brien

The only differences between the 2850 and 2850HE are that the HE version has twice the number of MOSFETs and additional copper bus bars to allow more current to flow.

Everything else is absolutely identical.

Please compare and report the software version that are installed in your two controllers.

<P style="MARGIN: 0px">Turns out that our customer switched out the motherboard (with the serial port). That serial port is not working correctly, and was causing some very odd behavior from the controller. We have a work around though.
<P style="MARGIN: 0px"><BR>Thanks,
<P style="MARGIN: 0px">Barry