ergoCub 1.3 S/N:002 – l_thumb_add in hw fault after calibration

[PasMarra]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

as per title, l_thumb_add in hw fault after calibration

Detailed context

Additional context

No response

How does it affect you?

No response

[edersonferrante]

Hi @PasMarra , it could be the FAP card that's causing the problem. I'll try to replace it with a new one as soon as possible.

cc @Fabrizio69

[PasMarra]

A brief recap of what we did today:
We changed the cable and,multiple times, the FAP: it worked once, then never again.
It should be noted that we switched several times also the cable connection using the index_add port.
For those reasons, we suppose it could be again the cable or the MMA board.

[Fabrizio69]

With @AntonioConsilvio, we replaced MMA board (cod.16872.B) on the left hand:

• Thumb abduction is running after calibration:
  • The dowel pin for the thumb abduction FAP was missing (hole too deep): centering pin removed and mounted with glue
  • Added kapton to isolate the FAP from the mechanics: there was a short circuit
• After MMA replacement, index finger abduction still does not work as described here, even after applying kapton on the FAP used for this joint

[PasMarra]

I've just calibrated the robot and the problem is back again:

[AntonioConsilvio]

HI! the calibration files was not updated properly.
This is the commit:

• mesh-iit/robots-configuration@3bccd57

Now the robot is updated and it is working properly.

Closing! 🚀