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Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:001 – Robot going in overtemperature, which seems a false positive #1738

Closed DanielePucci closed 5 months ago

DanielePucci commented 5 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

The left_hip_roll goes to overheating, which seem a false positive.

Detailed context

After deploying the firmare for checking the temperature on the left leg in https://github.com/MSECode/icub-firmware/tree/fix/temperatureReading, @Miche19 and @mebbaid were trying to walk. After few steps, the robot fell

https://github.com/robotology/icub-tech-support/assets/5045846/2801b563-4a1e-4ac4-9dd7-390d7fadd5f9

By checking at the yarpmotorgui, it seems an overheating image

However, it seems a false positive since by putting the joint in idle and back to run it immediately gets back to run.

We don't have additional temperature data.

Additional context

No response

How does it affect you?

No response

maggia80 commented 5 months ago

I would check the value of the temperature because it goes down quite rapidly.

https://icub-tech-iit.github.io/documentation/temperature_sensors/general/overview/?h=temper#how-to-read-the-motor-temperature

DanielePucci commented 5 months ago

It seems that this issue was related to https://github.com/robotology/icub-tech-support/issues/1739. After cleaning the LCORE, we no longer had the overheating problem. The robot walked for about five minutes and the temperatures look consistent. image

So, actually the over temperature we got in the video above might have been true, and the protection system most likely worked!

On a side note, after https://github.com/robotology/icub-tech-support/issues/1739, the robot started walking much better and with less oscillations. The other guess is that lowering the 2FOC frequencies from 40 to 20 Khz actually improved the overall system performances.

So, closing.

@GiulioRomualdi @isorrentino