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Faulty AEA Encoder on l_hip_yaw (EMS 6 Axis 2) #221

Closed traversaro closed 8 years ago

traversaro commented 8 years ago
Description of the failure

The AEA on l_hip_yaw is reporting crazy data, this is an illustrative output of the /icub/left_leg/state:o: 

-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2464.722814 0.0 0.087891 0.010986
-0.181275 -0.021973 -2306.079849 0.0 0.087891 0.010986
-0.181275 -0.021973 -2446.793083 0.0 0.087891 -0.076904
-0.181275 -0.021973 -2327.085759 0.0 0.087891 0.010986
-0.181275 -0.021973 -2327.085759 0.0 0.087891 0.010986
-0.181275 -0.021973 -2327.085759 0.0 0.087891 0.010986
-0.181275 -0.021973 -2327.085759 0.0 0.087891 0.010986
-0.093384 -0.021973 -2327.085759 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -2152.27088 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.0 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1996.791984 0.0 0.087891 0.010986
-0.181275 -0.021973 -1990.112281 0.0 0.087891 0.010986
-0.181275 -0.021973 -1990.112281 0.0 0.087891 0.010986
-0.181275 -0.021973 -1990.112281 0.0 0.087891 0.010986
-0.181275 -0.021973 -1990.112281 0.0 0.087891 0.010986
-0.181275 -0.021973 -1990.112281 0.0 0.087891 0.010986
-0.181275 0.065918 -2003.911142 0.0 0.0 0.010986
-0.181275 -0.021973 -2018.149458 0.0 0.087891 0.010986
-0.181275 -0.021973 -2018.149458 0.0 0.087891 0.010986
-0.181275 -0.021973 -2018.149458 0.0 0.087891 0.010986
-0.181275 -0.021973 -2018.149458 0.0 0.0 0.010986
-0.181275 -0.021973 -2003.911142 0.0 0.087891 0.010986
-0.181275 -0.021973 -2003.911142 0.0 0.087891 0.010986
-0.093384 -0.021973 -1971.479423 0.0 0.087891 0.010986
-0.093384 0.065918 -1834.721276 0.0 0.087891 0.010986
-0.181275 -0.021973 -1834.721276 0.0 0.087891 0.010986
-0.181275 -0.021973 -1834.721276 0.0 0.087891 0.010986
-0.181275 -0.021973 -1834.721276 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1970.600514 0.0 0.087891 0.010986
-0.181275 -0.021973 -1792.270001 0.0 0.087891 0.010986
-0.181275 -0.021973 -1766.07853 0.0 0.087891 0.010986
-0.181275 -0.021973 -1766.07853 0.0 0.087891 0.010986
Detailed conditions when the failure occurred

We were testing the YOGA++ demo (the robot is switching from balancing on two feet to balancing on one foot) and while the robot was balancing on the right leg (so the left leg was not supporting any weight) we started receiving the following error from the robotInterface: 

49693       9349.294939     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2372s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000370) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49701       9350.291907     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2373s 513m 532u: (code 0x0200000a, par16 0x0102 par64 0x000000000000037e) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49722       9351.298870     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2374s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000373) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49731       9352.295605     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2375s 513m 530u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000385) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49732       9353.292231     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2376s 513m 530u: (code 0x0200000a, par16 0x0102 par64 0x000000000000036f) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49735       9354.299159     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2377s 513m 529u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000389) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49746       9355.296054     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2378s 513m 529u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000375) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49765       9356.292767     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2379s 513m 535u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000382) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49776       9357.299659     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2380s 513m 534u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000377) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49777       9358.296535     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2381s 513m 536u: (code 0x0200000a, par16 0x0102 par64 0x000000000000038f) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49778       9359.303446     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2382s 513m 532u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000386) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49788       9360.300262     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2383s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x000000000000037b) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49811       9361.397630     ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2384s 615m 626u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49821       9362.293610     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2385s 513m 528u: (code 0x0200000a, par16 0x0102 par64 0x000000000000031c) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49824       9363.300395     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2386s 513m 532u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000378) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49825       9364.297350     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2387s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000364) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49829       9365.163312     ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2388s 379m 824u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49834       9365.294190     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2388s 513m 528u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000391) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49855       9366.300922     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2389s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x000000000000037e) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49868       9367.297614     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2390s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x000000000000038a) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49869       9368.294364     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2391s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x000000000000036e) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49872       9369.291181     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2392s 513m 531u: (code 0x0200000a, par16 0x0102 par64 0x0000000000000375) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
49876       9370.167188     ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2393s 379m 816u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49881       9370.298072     WARNING      from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 2393s 513m 533u: (code 0x0200000a, par16 0x0102 par64 0x000000000000036f) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .

and clearly then the controller went crazy, and the joint went in HARDWARE_FAULT mode.

traversaro commented 8 years ago

Rebooting motors and pc104 solved (at least for the time being) the problem.

traversaro commented 8 years ago

Today the error occured while the robot was not moving at all, and it was controlled simply in position. Clearly there is some problem in the encoder (or in its readings), even if rebooting the problem disapperars.

@robotology/icub-support-team

traversaro commented 8 years ago

The problem appeared also today. The frequency is more or less once a day.

traversaro commented 8 years ago

And the error occured again today! Fortunatly we have @julijenv with us this time. Log: 

49334       23625.464221        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 63s 947m 545u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49535       23630.468486        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 68s 947m 545u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49776       23635.462544        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 73s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49832       23640.466797        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 78s 947m 544u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49849       23645.460485        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 83s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49863       23650.464356        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 88s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49876       23655.458197        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 93s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49882       23660.462156        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 98s 947m 540u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49897       23665.466274        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 103s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49912       23670.460139        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 108s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49923       23675.464221        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 113s 947m 549u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49936       23680.467873        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 118s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49949       23685.472257        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 123s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49955       23690.465716        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 128s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49972       23695.469726        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 133s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49985       23700.472902        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 138s 947m 546u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
49998       23705.466331        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 143s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50013       23710.469833        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 148s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50026       23715.473488        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 153s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50032       23720.466969        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 158s 947m 543u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50045       23725.470461        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 163s 947m 541u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50060       23730.474214        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 168s 947m 542u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50141       23735.287280        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 173s 746m 721u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50169       23735.468492        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 173s 947m 811u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50179       23735.709968        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 174s 184m 549u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50192       23740.472057        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 178s 947m 544u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50228       23744.257661        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 182s 722m 717u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50279       23745.475738        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 183s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50329       23746.673724        ERROR        from BOARD 10.0.1.6 (EB6), src CAN2, adr 13, time 185s 156m 162u: (code 0x01000002, par16 0x0004 par64 0x0000001c00000000) -> HW: strain values saturation. In p16 there is the channel involved, in p64 there are the saturation counts for the last sec of both types (lower: LS32bits, upper MS32bits + .
50353       23750.469374        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 188s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50432       23755.473076        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 193s 947m 812u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50511       23760.476810        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 198s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50590       23765.470246        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 203s 947m 813u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50665       23770.473856        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 208s 947m 812u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50746       23775.477457        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 213s 947m 810u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50813       23780.470626        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 218s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50897       23785.473709        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 223s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
50972       23790.477426        ERROR        from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 228s 947m 808u: (code 0x02000008, par16 0x0102 par64 0x0000000000000000) -> 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). + .
DanielePucci commented 8 years ago

This issue seems to be related to #201. The same error has just occurred again.

DanielePucci commented 8 years ago

We think that the problem is definitely similar to that of #201. Unfortunately, we do not have any oscilloscope to investigate more the issue, so we cannot be sure that there are drops in the tension. For the time being, we proceed by substituting the EMS 6 @julijenv @traversaro @francesco-romano @nunoguedelha

DanielePucci commented 8 years ago

Not having available EMS in the trolley toolbox, we switched the skin upper leg EMS 10 with the EMS 6.

DanielePucci commented 8 years ago

Switching the EMS did not solve the issue. Just occurred again.

traversaro commented 8 years ago

We substituted the sensor 4 days ago, and since then the issue never occured again. Closing the issue.