iCubEdinburgh01 – Leg Cabling: Replacing the cable 14

[jhielson]

Device name 🤖

iCub[Edinburgh][Edinburgh Centre for Robotics], S/N[034]

Request/Failure description

Hi everyone,

I need help replacing a cable in the iCub robot. The crimp part of the cable 14 snapped today during an experiment.

Detailed context

Following your documentation, there is a white cover that needs to be removed to access the cable. In my robot, I can see the white cover but the free space between the legs (Photo 26: https://icub-tech-iit.github.io/documentation/icub_tendons/waist_legs/#31-hip-flexion-cable-14 ) does not exist. There are a lot of cables and a metallic part with the tag OB4 in this area. Can you please give me some guidance on how to remove those parts so I can replace the cable? I could not find the instruction on the iCub documentation.

Additional context

How does it affect you?

No response

[AntonioConsilvio]

Hi @jhielson, the picture you can see in the guide is without electronics boards. Now, to gain enough space to be able to replace the steel cable, you can try removing the waist cover (green):

Then you need to remove the metallic part by removing the 4 screws (orange):

Two boards are attached to the metallic part, so when you remove it you should have a view similar to this:

However, you need to be very, very careful because in these photos taken by CAD, there are no electrical cables. So when you remove the metallic part, it should remain hanging because it should be held by the electrical cables.

But the electrical cables are very, very delicate, so it's possible that during this procedure one or more of the cables could come loose, and so you have to be very careful.

I'm not entirely sure that you can gain enough space to replace the cable while the metal part is hanging, but you can try to perform these steps and see.

If you cannot get enough space, you need to unplug the electric cables and remove the metal part. But before you do that, I recommend that you write to us because we may provide you with some useful information.

I need an information, is the problem on the left leg or the right leg?

If you have any questions, write to us.

cc @Fabrizio69

[jhielson]

Hi @AntonioConsilvio,

Thank you. The problem is on the cable 14 that is located in the left leg of the iCub. After removing the robot's back protection and all the four screws, I could see the two tiny ones holding the white cover. I have been trying to remove them but it is really hard to reach them.

[jhielson]

Hi @AntonioConsilvio,

I just managed to remove the cover and completely remove the old cable but I am not sure how to put the new one. Do you have any tips for that part.

[jhielson]

I am going to follow the documentation tomorrow and I will keep you updated. Thank you.

[jhielson]

Hi, It was a bit challenging but I managed to replace the cable. The leg is working fine now. Thank you very much!

There is another thing happening to the robot that I would like to discuss in this repo but I will open a new issue for that.

[jhielson]

Hi @AntonioConsilvio ,

Sorry to bother again. After putting everything back to their places, I tested the joints of the robot and now all the three torso joints are in idle mode. Everything is working except that. Can you help me, please?

[AntonioConsilvio]

Hi @jhielson good job because cable replacement is not easy.

Now, I have a few suggestions for you.

• When you start the robot the torso joints automatically go to idle, is that right? If so, you can check the terminal or logger to see if yarprobotinterface sends any messages.
• Then, when these joints are in idle, you can try moving them manually and see if the encoder value changes and by how much.
• After these steps, if everything looks fine, you can press on yarpmotorgui the "run" button and the torso should work. (Keep the red button close when performing this action).
• If the torso starts without any problems, try moving it from yarpmotorgui and check how it works.
• If everything seems fine, try restarting the robot and see if the problem persists.

Then, send us feedback on all these steps.

If you have any questions, write to us.

cc @sgiraz

[jhielson]

Hi @AntonioConsilvio,

Thank you for your support. I just checked the encoders here and they seem to be updating the values fine every time I move the three joints manually. Below, I filtered the error messages when I executed yarprobotinterface and it seems the torso "thinks" the fault button is pressed, which is not. Do you know how to fix that?

[AntonioConsilvio]

@jhielson I may have figured out the problem, so I am sending you a pdf file. iCub2.5-E3.3.2_5672_Logic.pdf

This is the wiring diagram of the robot. So if you go to page 9 (which should be about waist, you can read it on the page in the lower right corner), and if with ctrl+f you search for "fault," on this page you should find about 6 white wires connecting the fault when you press the red button.

Probably one of these cables has been detached when replacing the steel cable, and the board receiving this cable "thinks" that the red button was pressed, even though it was not.

So one (or more) of these cables has come loose and you need to find it in the waist and repair it. Maybe one thing can help you: the board that "feels" the disconnected cable should have a red LED (I'm not sure, but it should).

Another piece of information that you might find useful: the "2FOC" boards you can read about in the pdf are the ones with the big black heatsink. While the EMS does not have it.

If you have any questions, write to us

cc @sgiraz

[jhielson]

Hi,

It looks like the cables are not loose. I checked from both sides. Is there another way to test them?

[AntonioConsilvio]

Hi @jhielson, in the picture you sent me you are checking the wrong board. The white cable you need to check is connected to the boards called 2FOC, and they are like this one:

With a black heatsink.

For example, in your photo you can see the white cable I'm talking about:

The white cable visible in the photo needs to be checked at all its branches going to the waist (and which should be connected to the 2FOCs) and check that it has not been cut by a mechanical part or that it is disconnected.

If you have any question, write to us.

cc @sgiraz

[AntonioConsilvio]

@jhielson In the picture below you can see an example of how the fault cable is connected to a 2FOC board:

This is not the 2FOC in the robot's waist, but it is just to show that the fault cable is not in the same sheath with the other cables, but should come from another sheath and connect to the motor connector.

It can also be seen in the PDF I sent you. I take only one connector as an example, but it is the same for the other 3 connectors of the 3 torso motors:

cc @sgiraz

[jhielson]

Thanks for the update. I noticed that I was looking to the wrong board last Friday. Unfortunately, the correct board is attached to the metallic part. I am gonna try to separate those parts. Otherwise, I can not see the connection of one of the white cables. The other two seem to be fine. I used a multimeter to test the continuity of the wires, and they seemed to be fine.

[jhielson]

Sorry, I was using my phone to leave the last comment, and I closed the issue by mistake.

[jhielson]

Hi,

It seems the board is also glued to the metallic part. I removed the four rubber screws but it did not work. The visibility is quite bad.

[jhielson]

Hi,

I believe the issue might be in the 0B3/2FOC board, more specifically at the the white cable that is connected to the component P6_3_FAULT/HALL 0. As you can see below, it is not easy to reach that part. I wonder if there is an easy way of removing this board from the metallic part.

[AntonioConsilvio]

Hi @jhielson to remove the board you would have to remove the sensor from the metal part (if you have it, because not all robots have it).

Then you would have to remove the 4 screws that attach the 2FOC to the metal part.

At this point the board should be fairly free and you should be able to check the P6 connector.

If you have any question, write to us.

cc @sgiraz

[AntonioConsilvio]

Hi,

It seems the board is also glued to the metallic part. I removed the four rubber screws but it did not work. The visibility is quite bad.

@jhielson Is this the fault wire that goes to the P6 connector? Because it looks a little damaged, I don't know if that is the problem, but if you disconnect the 2FOC maybe you can use a multimeter to test the continuity of the wires (like you did with the other two white wires) and we can figure it out.

Unfortunately, the P6 connector is in a difficult position to reach.

Keep us informed of the situation.

cc @sgiraz

[jhielson]

Thanks @AntonioConsilvio, I have already removed those 4 screws but the black heatsink is glued to the metallic part. I am trying to remove but it is not working.

[AntonioConsilvio]

Hi @jhielson, there is this a conductive sheet that makes adhesive effect between the board and a metallic part.

But you should be able to disconnect the connector without unplugging the 2FOC board by following this video:

https://user-images.githubusercontent.com/114915464/218449706-8ee58d8e-61bb-4830-b59e-fa002ed5ab48.mp4

This is just a simulation, I know you have a lot of extra cables and other things that can make this procedure more difficult, but with a little effort you should be able to disconnect the connector with a flat-blade screwdriver (in the video I only pry from the right side, but you can help by prying from the left and right sides).

So, to reconnect the connector, you can do this:

https://user-images.githubusercontent.com/114915464/218464616-02a23288-c54d-460b-b2e3-7d5c18646d22.mp4

With tweezers you can pick up the connector from the base and connect it to the board.

These steps are not easy but should be possible.

If you have any questions, write to us.

cc @sgiraz

[jhielson]

Hi @AntonioConsilvio,

Thank you for your suggestion. I managed to remove the connectors and test them. They all seem to be working fine. I tested the wire continuity between each white cables (Photo 01-03) and the one for the right leg (Photo 04). The multimeter beeped for every single one.

Photo 01: Torso

Photo 02: Torso

Photo 03: Torso

Photo 04: Right Leg

[AntonioConsilvio]

Hi @jhielson, we consulted each other and came to the conclusion that the problem should reside in those cables there. Then, if you are sure that everything looks fine with the multimeter, you can try testing the crimping of the cable with tweezers, as in this video:

https://user-images.githubusercontent.com/114915464/220156198-f5cda52b-bf6d-4e8a-826e-5e10f4ec9893.mp4

You can try pulling the cable with tweezers, without tearing it, just to see if the crimp still holds.

If, after this test, the crimps look fine, you can try connecting the motors again and retry the yarpmotorinterface to see if the problem persists.

If the problem persists, we can schedule a videocall to provide you with better support.

cc @sgiraz

[jhielson]

Hi @AntonioConsilvio,

I pulled a litle bit the white cable of each connector and they seem to be fine. I also made a video testing the wire connectivity of those cables. My hands are not too stable but I think you can see the process.

https://user-images.githubusercontent.com/2223912/220374223-2c984a26-76b4-42c0-aad4-6e9a04af9e31.mp4

https://user-images.githubusercontent.com/2223912/220374241-a57a3a18-9a7b-45d7-a2a6-45fc5687db60.mp4

https://user-images.githubusercontent.com/2223912/220374261-3d3f5561-c887-428e-a3dc-82342dd7227b.mp4

I copied here some error messages that I got during the execution of yarprobotinterface:

587 1,065038    ERROR    from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 401s 270m 97u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
588 1,065084    ERROR    from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 401s 270m 185u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
589 1,065100    ERROR    from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 401s 270m 283u: (code 0x02000000, par16 0x0002 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
615 1,106314    ERROR    from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 401s 115m 730u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
619 1,115688    ERROR    from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 401s 319m 140u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + .
652 1,328448    ERROR    from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 401s 328m 902u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
653 1,328558    ERROR    from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 401s 328m 999u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
654 1,328595    ERROR    from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 401s 329m 106u: (code 0x02000000, par16 0x0002 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
655 1,328624    ERROR    from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 401s 329m 197u: (code 0x02000000, par16 0x0003 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
690 1,723672    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 736m 231u: (code 0x02000010, par16 0x0000 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
691 1,723781    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 736m 319u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
692 1,723817    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 736m 417u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
709 1,733947    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 739m 234u: (code 0x02000010, par16 0x0001 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
710 1,733980    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 739m 353u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
711 1,734009    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 401s 739m 479u: (code 0x02000010, par16 0x0003 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
724 1,804956    ERROR    from BOARD 10.0.1.23 (face-eb23-j2_5), src LOCAL, adr 0, time 401s 816m 970u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
725 1,805057    ERROR    from BOARD 10.0.1.23 (face-eb23-j2_5), src LOCAL, adr 0, time 401s 817m 69u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
726 1,805094    ERROR    from BOARD 10.0.1.23 (face-eb23-j2_5), src LOCAL, adr 0, time 401s 817m 172u: (code 0x02000000, par16 0x0002 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
727 1,805123    ERROR    from BOARD 10.0.1.23 (face-eb23-j2_5), src LOCAL, adr 0, time 401s 817m 269u: (code 0x02000000, par16 0x0003 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
728 1,926731    ERROR    from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 401s 941m 745u: (code 0x02000010, par16 0x0000 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
729 1,926833    ERROR    from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 401s 941m 898u: (code 0x02000010, par16 0x0003 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
733 1,936852    ERROR    from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 401s 947m 758u: (code 0x02000010, par16 0x0001 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
734 1,936951    ERROR    from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 401s 948m 770u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
799 2,301883    ERROR    from BOARD 10.0.1.22 (face-eb22-j0_1), src LOCAL, adr 0, time 402s 312m 319u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
800 2,301985    ERROR    from BOARD 10.0.1.22 (face-eb22-j0_1), src LOCAL, adr 0, time 402s 312m 416u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
817 2,413508    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 414m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
818 2,413551    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 415m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
821 2,413642    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 418m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
826 2,413772    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 421m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
828 2,413829    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 424m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
830 2,413880    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 427m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
832 2,423502    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 430m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
834 2,423711    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 433m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
837 2,423976    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 436m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
839 2,433600    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 439m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
842 2,433754    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 442m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
844 2,433887    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 445m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
846 2,434116    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 448m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
851 2,443948    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 451m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
853 2,444047    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 454m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
855 2,444320    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 457m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
857 2,453866    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 460m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
859 2,454045    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 463m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
861 2,454139    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 466m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
863 2,463973    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 469m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
868 2,464473    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 472m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
870 2,464536    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 475m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
872 2,474194    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 478m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
874 2,474503    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 481m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
876 2,474638    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 484m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
878 2,474744    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 487m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
880 2,484299    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 490m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
882 2,484652    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 493m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
884 2,484749    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 496m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
886 2,494407    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 499m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
888 2,494591    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 502m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
890 2,494733    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 505m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
892 2,494836    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 508m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
894 2,504533    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 511m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
896 2,504853    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 514m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
898 2,505056    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 517m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
900 2,514623    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 520m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
902 2,514785    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 523m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
904 2,514847    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 526m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
906 2,524737    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 529m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
908 2,524913    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 532m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
910 2,524974    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 535m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
912 2,525046    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 538m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
914 2,534850    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 541m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
916 2,534988    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 544m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
918 2,535127    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 547m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
920 2,544946    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 550m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
922 2,545084    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 553m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
924 2,545167    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 556m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
926 2,555063    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 559m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
928 2,555199    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 562m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
930 2,555298    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 565m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
932 2,555350    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 568m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
934 2,565182    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 571m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
936 2,565321    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 574m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
938 2,565381    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 577m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
940 2,575391    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 580m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
942 2,575623    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 583m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
944 2,575698    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 586m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
946 2,585504    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 589m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
948 2,585688    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 592m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
950 2,585791    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 595m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
952 2,585879    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 598m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
954 2,595616    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 601m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
956 2,595787    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 604m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
958 2,595850    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 607m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
960 2,605734    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 610m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
962 2,605877    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 613m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
967 2,606044    ERROR    from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 402s 619m 392u: (code 0x02000010, par16 0x0001 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
968 2,606081    ERROR    from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 402s 619m 513u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
969 2,606107    ERROR    from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 402s 619m 639u: (code 0x02000010, par16 0x0003 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
970 2,606133    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 619m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
972 2,615819    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 622m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
989 2,616460    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 625m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
991 2,616569    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 628m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
998 2,626215    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 634m 111u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1001    2,626335    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 637m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1003    2,636004    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 640m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1005    2,636196    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 643m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1007    2,636319    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 646m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1009    2,636397    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 649m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1012    2,646219    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 652m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1014    2,646297    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 655m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1017    2,646393    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 658m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1019    2,656212    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 661m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1021    2,656436    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 664m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1026    2,656927    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 667m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1028    2,666318    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 670m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1030    2,666534    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 673m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1032    2,666633    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 676m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1034    2,666689    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 679m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1036    2,676434    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 682m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1038    2,676605    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 685m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1043    2,676750    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 688m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1045    2,686524    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 691m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1047    2,686733    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 694m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1049    2,686822    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 697m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1051    2,696621    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 700m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1053    2,696906    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 703m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1055    2,696980    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 706m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1057    2,697034    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 709m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1059    2,706736    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 712m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1061    2,706878    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 715m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1063    2,706936    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 718m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1065    2,716831    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 721m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1067    2,717015    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 724m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1069    2,717076    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 727m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1071    2,726919    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 730m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1073    2,727079    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 733m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1075    2,727140    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 736m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1077    2,727192    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 739m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1079    2,737068    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 742m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1081    2,737202    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 745m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1083    2,737255    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 748m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1085    2,747252    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 751m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1087    2,747388    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 754m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1089    2,747447    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 757m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1091    2,747569    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 760m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1093    2,757366    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 763m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1095    2,757502    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 766m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1097    2,757561    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 769m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1099    2,767470    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 772m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1101    2,767609    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 775m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1103    2,767676    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 778m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1105    2,777623    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 781m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1107    2,777757    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 784m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1109    2,777827    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 787m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1111    2,777922    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 790m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1113    2,787788    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 793m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1115    2,787929    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 796m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1117    2,787997    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 799m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1119    2,797933    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 802m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1121    2,798067    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 805m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1123    2,798127    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 808m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1125    2,808117    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 811m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1127    2,808257    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 814m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1129    2,808317    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 817m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1131    2,808395    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 820m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1133    2,818261    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 823m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1135    2,818395    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 826m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1137    2,818453    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 829m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1142    2,828549    ERROR    from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 402s 840m 812u: (code 0x02000010, par16 0x0000 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
1143    2,828609    ERROR    from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 402s 840m 932u: (code 0x02000010, par16 0x0001 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
1144    2,828654    ERROR    from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 402s 841m 73u: (code 0x02000010, par16 0x0003 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
1145    2,828699    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 835m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1149    2,828943    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 838m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1151    2,829458    ERROR    from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 402s 844m 837u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .
1152    2,829522    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 841m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1154    2,829615    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 844m 109u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1156    2,838732    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 847m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1158    2,838874    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 850m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .
1160    2,838968    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 402s 854m 227u: (code 0x02000000, par16 0x0002 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
1161    2,848624    ERROR    from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 402s 854m 328u: (code 0x02000000, par16 0x0003 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
1162    2,848691    ERROR    from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src CAN1, adr 0, time 402s 853m 108u: (code 0x00000019, par16 0x2d01 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .

[sgiraz]

Hi @jhielson,

Looking at your log I see that:

board	hard limit reached	external fault button pressed	AEA encoder invalid data	could not tx frames on CAN bus
10.0.1.5		X	X
10.0.1.21		X
10.0.1.22		X
10.0.1.23		X
10.0.1.25	X	X
10.0.1.26	X
10.0.1.27				X
10.0.1.28	X

All the parts involved in the errors reported have been highlighted in the following schematic:

Where:

• green (🟢) --> AEA encoder invalid data
• red (🔴) --> external fault button pressed
• pink ( ) --> hard limit reached
• blue(🔵) --> could not tx frames on CAN bus

Notes:

• ⚠️ These errors indicate that there are many problems in addition to the external fault, so we would appreciate if you could send us the full log (also in a .txt file) of the yarprobotinterface after running the whole robot from a fresh start.
• ⚠️ the board with ip 10.0.1.23 is not shown in the schematic, but we know that it is a mc4plus use to perform lips-control

• Please check all the connections highlighted above:

  • fault white (⚪) wires connected to: 10.0.1.5, 10.0.1.21, 10.0.1.22, 10.0.1.23, 10.0.1.25
  • P6, P7 and P8 connectors for: 10.0.1.5
  • P3 connector for the: 10.0.1.27

  In the meanwhile, we gonna inspect for further problems by looking at the data provided by you

cc @AntonioConsilvio

[jhielson]

Hi,

You can find below a full log file after running yarprobotinterface.

yarprunlog_21_02_2023_16_37_29.log

[AntonioConsilvio]

Hi @jhielson, you should use the FirmwareUpdater command on the iCub head (use -X to connect with the head because it is a graphical application), then select the first option and click Discover. Here you will be able to see all the electronic boards in your robot, so send us a screenshot of what you see.

cc @sgiraz

[jhielson]

Hi @AntonioConsilvio ,

It seems I can not initiate the drivers via FirmwareUpdater. But the robot was on and connected.

[jhielson]

Hi,

I just gotta back from sick leave. I am not sure if it is a good idea to open the other parts of the robot to check those connectors. They are located in places that are difficult to reach and the cables are quite delicate. But I can do it if those connectors might represent the real issue.

[sgiraz]

Hi @jhielson,

In our internal comparison analysis, based on your logs, we suspect that there may be many different kinds of issues that need to be resolved. We would like to ask you to send us the robot so that we can fix all of the problems and make it work correctly again.

If you agree, here is the address where to send the parcel for the maintenance activity:

IIT - Istituto Italiano di Tecnologia Via Morego 30 I-16163 Genoa, ITALY Att.n: Fabrizio Larosa (iCub Tech, CIRS) Phone: +39 010 28 98 223

⚠️ IMPORTANT: please safely pack the goods using the maximum care to absorb shocks. If possible, indicate "fragile" on the parcel. As soon as you have a tracking number, pls let us know so we may follow the shipping.

@andreaderito, please add further relevant info if needed.

cc @Fabrizio69 @maggia80 @AntonioConsilvio

[jhielson]

Hi,

I appreciate all the support given to me to solve the issue. I do not think the project that I have been working on has a budget to send the robot for repairing. I need to talk to my supervisors. But I was wondering, except by the three joints at the torso, the robot seems to be working fine (video below). There are some minor issues that we do not mind right now, like the tactile sensors failing in the right arm. I still believe the fault might be in those boards that we have discussed since they control the three joints.

https://user-images.githubusercontent.com/2223912/224004496-2c136ccf-1e2a-4f4d-a606-6c7214e98e72.mp4

[sgiraz]

Hi @jhielson,

We may schedule a video call for the next week and try to solve the problems together. Stay tuned I'll give you some possible dates soon.

Anyway, if we'll not able to solve the issues in this way, we would encourage you to send us the robot for a better checkup and maintenance.

cc @AntonioConsilvio @Fabrizio69

[sgiraz]

Hi @jhielson,

If you agree, we can schedule the video call to support this activity on Thursday, March 30 at 10:00 (GMT+2). Next Monday, April 3 at 10:00 (GMT+2) is another possibility. Please let us know what date works best for you.

cc @AntonioConsilvio @Fabrizio69

[jhielson]

Hi @sgiraz,

I will be at the University of Manchester on Thursday. But I can do it on Monday. Thank you!!

[sgiraz]

/remind 31 March 9:00 Activity scheduled for Monday!

[octo-reminder[bot]]

⏰ Reminder Friday, March 31, 2023 9:00 AM (GMT+02:00)

Activity scheduled for Monday!

[octo-reminder[bot]]

🔔 @sgiraz

Activity scheduled for Monday!

[sgiraz]

Hi @jhielson,

What you should have before the meeting is:

• Digital Multimeter
• Robot Laptop
• Screwdrivers (different sizes and kinds)
• Solder[^1]
• Tweezers
• Crimping tool
• Crimp female AWG 26-28
• Crimp female AWG 28-32
• Scissor / wire stripper

Notes: With high probability, we need to see the physical robot. For this purpose, we ask you to use an additional external camera connected to your laptop (or you may use the mobile phone camera and switch the video call on it)

[^1]: optional items

[jhielson]

Hi,

Good morning. Which link should I use for the meeting?

[sgiraz]

Hi,

Good morning. Which link should I use for the meeting?

Hi @jhielson, I sent you the invitation link to your personal mail.

[jhielson]

Hi,

I haven't received the email yet. Can you send it to jm2147@hw.ac.uk?

[sgiraz]

Hi @jhielson,

We have news for you! 📢

---

If you are on time, please do not perform the 2 action points 🎯 suggested during the last call, because they may not be necessary!

---

On the 2FOC board there is a 100 Ω resistor close to the 3rd pin of the connector that includes the fault wire (⚪). Since we saw that the continuity tests on the fault white wires (⚪) seem fine, on both 2FOC boards, it is reasonable to suspect that this resistor is broken.

The images below show you the steps to check for this issue:

1. Remove the 2FOC boards (labeled with 0B3 and 0B4 ) from the robot, and put them on your desk. 💡To remove the glued part you may try to prehead the metallic plate (⚠️ be careful to not overheat the board) and leverage it with the help of a screwdriver.

2. Remove the black heatsink from the 2FOC boards

3. Pay attention to these resistors.

4. Test the value of the resistors using the multimeter. They must be ~100 Ω each, otherwise, they have to be replaced! 🚨

let us know if you were able to do this test and the result you got in step 4.

cc @Fabrizio69 @AntonioConsilvio

[jhielson]

Thanks @sgiraz. It seems that is the problem. I tested all the resistors and 3 of them are not working. They are exactly the ones used for the faulty button (white cable).

[jhielson]

Hi,

The ones from the back side of board are working. Can we use them instead?

[sgiraz]

Hi @jhielson,

Unfortunately, as you can see from the electrical scheme, the only connectors that manage the fault signal are P6 and P1. Hence, the connectors mentioned in the comment above are not swappable. However, to move on you can do the following things in order:

1. remove the faulted resistors and close the circuit soldering a drop of tin
2. now test if the torso works correctly
3. ✅ if the torso now works you can choose one of the following action points 🎯:
   • continue to use the robot leaving the drop of tin soldered at point 1, at your own risk ⚠️
   • remove the drop of tin placed at point 1 and solder three brand-new (100 Ω) resistors in place of the previously faulted resistors
   • remove the drop of tin placed at point 1, remove three (100 Ω) resistors from P2 connector of 0B4 board, and solder them in place of the previously faulted resistors. This option is possible because the P2 connector of 0B4 actually should be used at all.
4. ❌ If the torso still not working, the microcontroller of the 2FOC boards may be seriously damaged. In this case, you can return them to us and we can ship you 2 brand-new boards.

Notes: These are the three resistors you can bring from P2 connector as described in the last of the possible action points of point 3:

cc @AntonioConsilvio

[jhielson]

Thanks Simone.

Next week, I will follow the steps above and keep you updated. Meanwhile, could you send me the quote for new boards? I am going to talk to my supervisors so we can arrange that.

Best regards, Jhielson M. Pimentel

[sgiraz]

Next week, I will follow the steps above and keep you updated. Meanwhile, could you send me the quote for new boards?

The price for a single 2FOC board is indicatively 300 euros.

cc @andreaderito @maggia80

[jhielson]

Hi @sgiraz,

I would like to give you an update. We have sent both boards to our partner here in Edinburgh to replace the resistors. It might take a few days though. I will keep you all updated. Thanks.

[github-actions[bot]]

This issue has been automatically marked as stale because it did not have recent activity. It will be closed if no further activity occurs.

[jhielson]

Hi everyone,

Today, my colleague and I finally managed to put the recently fixed boards back (0B3 and 0B4) to the robot. Unfortunately, the 3 motors from the robot's waist is not responding yet. We got the log file as you can find bellow. Please, let me know if you have any suggestions.

Error messages:

Log file below: log_icub-head_yarprobotinterface_1461.txt

[sgiraz]

Hi @jhielson,

Nice to see that the External Faul Button Pressed error is gone! ✅

From the log posted above I see that the first (periodic) errors are the following:

581 1,165692 <ERROR>  from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 833s 437m 167u: (code 0x02000003, par16 0x0001 par64 0x0000000000000000) -> MC: 2FOC hall sensors fault. Invalid sequence in motor Hall effect sensors, please check motor hall cable connections. par16 = ID of joint. + .

582 1,165727 <ERROR>  from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 833s 438m 155u: (code 0x02000010, par16 0x0001 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + .

Are you sure that the phases and hall wirings of the motors are connected/inserted correctly to the one re-mounted 2FOC board? See the picture below for a comparison: