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Carleton-SRCL / SPOT

Spacecraft Proximity Operations Testbed
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E-Stop Does not Consistently Cut Power to the Robotic Manipulator #17

Open TheElectricDream opened 3 years ago

TheElectricDream commented 3 years ago

Hitting the e-stop does not stop the robotic manipulator. This could be potentially catastrophic for students who are not aware of the issue.

c-bash commented 2 years ago

Was in the laboratory today. E-stop did indeed stop the arm. However, the alarm LED on the motors for the shoulder and elbow joints turn on (flashing red 1 sec repeatedly), and we believe this is correlated to pressing the e-stop. Power-cycling the platform resets the motors (otherwise, the motors will not work).

TheElectricDream commented 1 year ago

Great, I will close this issue!

TheElectricDream commented 1 year ago

Yikes, yeah this should not be closed. The e-stop does not stop the arm. Maybe it's inconsistent (which is also scary), but this needs to be fixed before any inexperienced student does arm experiments. It caught be off guard and I had to unplug the arm manually:

https://www.dropbox.com/s/ocs539ub5l527cw/HCVR_Overhead_main_20230312121350_20230312121409.avi?dl=0

c-bash commented 1 year ago

Yikes is right, that didn't look like a good situation. When we re-do the wiring on RED we can make sure that the power to the arm also goes through the emergency MOSFET.

TheElectricDream commented 12 months ago

I tested this on the weekend and it seems to be working at the moment. I hesitate to close this though....

c-bash commented 12 months ago

I don't think I've been able to fix it yet, so best not to close this issue since we might have a repeat of previous events. The problem seemed to be that the arm still had a 'small' amount of current running through it even when the e-stop was pressed. Whether the current was coming from a residual amount in the 12V line, or whether it is somehow getting power from elsewhere (e.g., through the Xavier) remains unknown.