ergoCub 1.2 S/N:002 – Left ankle roll goes in hw fault during calibration

[mebbaid]

Robot Name 🤖

ergoCub 1.1 S/N:002

Request/Failure description

The l_ankle_roll goes in hardware fault with message

 45.978694 <ERROR> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=563s 487m 605u :  MC: hard limit reached. The joint position is outside its hardware boundaries. (Joint=l_ankle_roll (NIB=1))

Detailed context

The l_ankle_roll goes in hardware fault with message

 45.978694 <ERROR> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=563s 487m 605u :  MC: hard limit reached. The joint position is outside its hardware boundaries. (Joint=l_ankle_roll (NIB=1))

Associated log l_ankle_roll_limit_reached.txt

Associated message in motorgui

The error persists as long as we are using the amo encoder in the calibrators. If we set that to none, the error is no longer, but the ankle roll is clearly no calibrated and prevents us from running experiments

The error persists even if we restart the motors.

Additional context

No response

How does it affect you?

It blocked us from running experiments on the robot with @illkid3 and @giotherobot

[AntonioConsilvio]

Hi! I found the connector of the AMO sensor quite detached:

I restored the connection and it works properly now! Closing 🚀