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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:002 – All torso joints in HF with generic motor error #1804

Closed carloscp3009 closed 1 month ago

carloscp3009 commented 1 month ago

Robot Name 🤖

ergoCub 1.1 S/N:002

Request/Failure description

We were conducting some test on the robot that implies walking with a payload (Empty box) after a minute the robot went in Generic Motor Error in all torso joints.

https://github.com/robotology/icub-tech-support/assets/44415073/90d65b76-1e63-4b27-b375-9ce5bbf18277

Detailed context

Here an screenshot from the motor GUI

image

This time the motor currents and PWM for the torso seem to be streamed correctly. image

Additional context

Here the mat file containing the logging data: robot_logger_device_2024_05_08_11_47_17.zip

And here the yarprobtinterface: interface_generic_motor_error.txt

How does it affect you?

We have some demos the next week and a video shooting, without crane, tomorrow

cc @GiulioRomualdi @DanielePucci @S-Dafarra

valegagge commented 1 month ago

Hi @carloscp3009 , from the log you attached it seems there are some CAN bus errors.

image

In addition, I noticed that there was a calibration fault on joint 4 of the right leg. The calibration file you used is the one that is on the devel branch of the robotology?

cc @AntonioConsilvio

AntonioConsilvio commented 1 month ago

Hi!

Thanks for the suggestion @valegagge.

You are right, in fact the problem was caused by the CAN termination resistor not making good connection.

@AntonioAzocar and I fixed this problem, the robot works properly now!

Thank you!

cc @carloscp3009