Closed traversaro closed 8 years ago
How many times it happened? Do you also have warnings about spikes in the encoder just before the fault?
I had the same issue, but because it happened during a tendon breakage, I though it was related to that.
42210 74654,471948 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1028s 490m 407u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42229 74657,147241 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1031s 167m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42235 74662,145164 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1036s 168m 449u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42248 74667,152651 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1041s 169m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42250 74668,283576 ERROR from BOARD 10.0.1.6 (EB6), src CAN2, adr 13, time 1042s 281m 83u: (code 0x01000002, par16 0x0003 par64 0x0000000d00000000) -> 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 + .
42267 74672,148777 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1046s 170m 414u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42318 74675,583524 ERROR A 0.250000 sec timeout occured in embObjMotionControl::checkRemoteControlModeStatus(), BOARD EB3 IP 10.0.1.3, joint 0, current mode: idl, requested: pos
42320 74675,583564 ERROR failure of embObjMotionControl::checkRemoteControlModeStatus(j=0, targetmode=pos) for BOARD EB3 IP 10.0.1.3 after 17 attempts and 0.264333 seconds
42323 74675,593617 ERROR In embObjMotionControl::setControlModeRaw(j=0, mode=pos) for BOARD EB3 IP 10.0.1.3 has failed checkRemoteControlModeStatus()
42355 74675,845737 ERROR A 0.250000 sec timeout occured in embObjMotionControl::checkRemoteControlModeStatus(), BOARD EB3 IP 10.0.1.3, joint 1, current mode: idl, requested: pos
42357 74675,845752 ERROR failure of embObjMotionControl::checkRemoteControlModeStatus(j=1, targetmode=pos) for BOARD EB3 IP 10.0.1.3 after 16 attempts and 0.252570 seconds
42359 74675,845764 ERROR In embObjMotionControl::setControlModeRaw(j=1, mode=pos) for BOARD EB3 IP 10.0.1.3 has failed checkRemoteControlModeStatus()
42361 74675,845777 ERROR embObjMotionControl::checkRemoteControlModeStatus(2, 7565168) is unable to check the control mode of BOARD EB3 IP 10.0.1.3 because it is now in HW_FAULT
42378 74677,147089 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1051s 171m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42396 74678,307017 ERROR from BOARD 10.0.1.6 (EB6), src CAN2, adr 13, time 1052s 303m 93u: (code 0x01000002, par16 0x0003 par64 0x000001a700000000) -> 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 + .
42398 74678,307035 ERROR from BOARD 10.0.1.6 (EB6), src CAN2, adr 13, time 1052s 303m 104u: (code 0x01000002, par16 0x0004 par64 0x0000000000000121) -> 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 + .
42426 74682,149535 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1056s 172m 411u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42443 74687,153482 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1061s 173m 450u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42455 74692,153680 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1066s 174m 419u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42468 74697,156342 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1071s 175m 450u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42486 74702,159995 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1076s 176m 449u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42506 74707,154209 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1081s 177m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42524 74712,155936 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1086s 178m 411u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42542 74717,160729 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1091s 179m 411u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42548 74722,164336 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1096s 180m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42565 74727,159399 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1101s 181m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42581 74732,161979 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1106s 182m 450u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42601 74737,166308 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1111s 183m 411u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42613 74742,156941 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1116s 184m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42631 74747,158195 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1121s 185m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42640 74752,160909 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1126s 186m 413u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42654 74757,164795 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1131s 187m 414u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
42669 74762,166774 ERROR from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1136s 188m 449u: (code 0x02000008, par16 0x0002 par64 0x0000000000000009) -> 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). + .
It happened again. The interesting thing is that the AEA encoder invalid data
error is reported exactly every 5 seconds when the joint is in hardware fault, but when we send a FORCE_IDLE
message and the joint goes back in idle mode and then in position, the error stops.
It seems that we have a problem with the encoder of the right shoulder, joint 2 i.e.
@julijenv
Suspicious values of the AEA JTN 2 right_shoulder occurred again. @spada1978 and Gandini are replacing it.
replaced AEA reached n.2
Description of the failure
While running the YOGAPP, the joint 2 of the right_arm part (
r_shoulder_yaw
) went in hardware fault.Details