Joints 7 of right_arm (r_hand_finger) goes in fault immediatly after startup

[traversaro]

Description of the failure

During startup or immediatly after startup, the joints of the right arm after the number 3 go to fault/idle.

Detailed conditions when the failure occurred

I will comment this issue for each occurrence on the problem. : )

[traversaro]

Conditions

We started the robot successfully, then after some minutes the hand fall.

Log

https://gist.github.com/traversaro/0ab25c4bdd71aabd96baa7caf3143deb#file-log_1_jun_2016_lumix-md

Joints situation

[traversaro]

Conditions

We started the robot, and the joints 8 => 15 went in fault during calibration. After some minutes also the joints 4 => 7 went in fault.

Joint conditions

After startup:

After some minutes:

Log

https://gist.github.com/traversaro/d54e57868a6b290d8dad8e4da93b42ee#file-log_1_jun_2016_lumix_test2-md

[traversaro]

@julijenv found the problem: on cable 4N1 the two CAN cables (black and white) where exchanged:

@julijenv fixed it and now everything seems to be working fine.

[traversaro]

Actually there are still problems, and @julijenv will check again friday morning.

[traversaro]

Current situation: with the r_upper_arm link without cover, starting the robot will always result in the Joint 7 of the right_arm (r_hand_finger) to be in Hardware Fault (I guess there is some board detached).

Occasionaly there is also an hardware fault on the joint 1 of the right_leg (r_hip_roll), but this failure does not seems to be related.

[traversaro]

Update: at the moment, the only joint that is consistently in hardware fault is the joint 7 of the right_arm (r_hand_finger).

[davidetome]

the motor was shorted with the chassis. Replaced -> Fixed