ergoCub 1.1 S/N:001 – Robot dont calibrate, right leg not seen

[steb6]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

with disable_right_leg it works, but we need that joint, please otherwise provide us a way to disable the ankle

Detailed context

as above

Additional context

as above

How does it affect you?

we cant collect data or use the robot

[SimoneMic]

Cc @pattacini @lornat75
We have a demo on Tuesday

[valegagge]

Hi @steb6 , could you share the log of YarprobotInterface ? This speeds up the understanding of the problem.

[PasMarra]

We can see the connection with the EMS4 and 2FOC boards:

There is the error happening on certain occasion, the board 10.0.1.7 showing can transmission error (unfortunately i don't have a screenshot of the terminal, as the error happens occasionally)

There is error in encoder reading in position on yarpmotorgui (unfortunately i don't have a screenshot of the terminal, as the error happens occasionally)

This says that something wrong with the encoder communication?

cc @sksubiit

[sksubiit]

We can see the connection with the EMS4 and 2FOC boards:

There is the error happening on certain occasion, the board 10.0.1.7 showing can transmission error (unfortunately i don't have a screenshot of the terminal, as the error happens occasionally)

There is error in encoder reading in position on yarpmotorgui (unfortunately i don't have a screenshot of the terminal, as the error happens occasionally)

This says that something wrong with the encoder communication?

cc @sksubiit

we tried the process for 4 times, on one of the occasion there is that communication error on yri, and also on the home position of the encoder the ankle was tilted.

We restarted that particular ems board, 10.0.1.7 once the error happened just for information.

[ale-git]

It seems a cabling problem to me (the CAN connects the 2FOC to the EMS). Do you remember if the encoder error is about the primary encoder (joint, absolute), or secondary (motor, incremental)?

[pattacini]

@Fabrizio69 checked the funcionality of the connectors of the SPI wiring connecting the EMS4 w/ the ankle roll AMO and found out that one single crimp was failing. He fixed it.

In detail, he fixed the connector of AMO1 board (RL_S5), right ankle roll.

Let's hope for the best on Monday when you guys will be launching the robot.

cc @PasMarra @steb6 @lornat75 @SimoneMic

[pattacini]

Closing.
Feel free to open it up again if required.