search

robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
10 stars 13 forks source link

Frequent tripod HW FAULT #53

Closed pattacini closed 4 years ago

pattacini commented 8 years ago

We do experience frequent HW FAULT of the tripod joints while controlling the mechanism by means of the GUI.

cc @ale-git @randaz81

ale-git commented 8 years ago

Exactly in the tripod joints or in the torso yaw? If it is the torso yaw it is due to a misfunction of the fake hall sensors. In the latest version of the 2FOC fw there is a workaround (rare invalid values are ignored), still to be uploaded.

pattacini commented 8 years ago

I was mainly referring to the tripod of the wrist.