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flexivrobotics / flexiv_rdk

RDK (Robotic Development Kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
https://www.flexiv.com/software/rdk
Apache License 2.0
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CRC signature missmatch in communication #74

Closed skyrimax closed 3 months ago

skyrimax commented 3 months ago

We were running a plan on the Rion 10 through the RDK (0.10) and suddenly the robot stopped with the following critical error showing up in the console

[10:43] Maxime Royal [2024-07-16 14:40:38.832] [critical] [Robot Log] Robot triggered the following error. Please reboot the system to recover. [error message]: [SYSTEM]MCU comm CRC. [SYSTEM]MCU cross check. [SYSTEM]Joint CRC. A1 violated joint check on CRC signature mismatch in communication. A2 violated joint check on CRC signature mismatch in communication. A3 violated joint check on CRC signature mismatch in communication. A4 violated joint check on CRC signature mismatch in communication. A5 violated joint check on CRC signature mismatch in communication. A6 violated joint check on CRC signature mismatch in communication. A7 violated joint check on CRC signature mismatch in communication.

What is the cause of this issue and is there a wait to prevent it's occurence, or at least minimise it?

dajun-flexiv commented 3 months ago

Hi,

This problem seems to be related to the control box system recourse allocation. A simple upgrade should fix this problem. Could you please reach out to the RA team from Flexiv for further supports. You can contact me via dajun.tao@flexiv.com. Please send us the logs and if possible the plan you were running. Thanks!