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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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iCubGenova09 (iRonCub3) S/N:000 – Left ankle roll goes in hw fault during calibration #1834

Closed gabrielenava closed 1 week ago

gabrielenava commented 1 week ago

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

The left ankle roll does not calibrate, and has this behavior:

https://github.com/robotology/icub-tech-support/assets/12396934/694a9408-2049-420e-b4f1-c2ece6a1dcf2

after few seconds the joint goes in HW fault saying that the i2t limit is exceeded:

Screenshot from 2024-06-20 11-03-08

same message in the logger:

277,976408 ERROR from BOARD 10.0.1.8 (left_leg-eb8-j3_5) time=772s 331m 244u : MC: i2t limit exceeded. The motor has been turned off to prevent it from being damaged by overheating due to a continuous high current. (Joint=l_ankle_roll (NIB=2))

Detailed context

I have quickly checked the cabling and I did not spot anything broken. Might be an internal problem (motor - harmonic drive)?

Additional context

No response

How does it affect you?

Blocks iRonCub experiments

cc @DanielePucci

AntonioConsilvio commented 1 week ago

Hi @gabrielenava, me and @AntonioAzocar worked on this problem.

The problem was due to the optical disc, in fact the optical disc was dirty.

We cleaned it and now the joint works properly. Closing! 🚀