iCubLausanne02 S/N:033 – MC: exernal fault button pressed - Torso unavailable

[DJacquemont]

Robot Name 🤖

iCubLausanne02 S/N:033

Request/Failure description

The robot has not been used for a few years, and I am trying to use it again. When starting yarprobotinterface, I get an error from the boards on the torso, and I would like to bypass it.

Detailed context

When starting yarprobotinterface, I get an error from the boards on the torso:

[ERROR] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 1594s 105m 657u: (code 0x02000000, par16 0x0000 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
[ERROR] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 1594s 105m 748u: (code 0x02000000, par16 0x0001 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .
[ERROR] from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 1594s 105m 843u: (code 0x02000000, par16 0x0002 par64 0x0000000000000000) -> MC: exernal fault button pressed. + .

The stop button is not enabled, and the rest of the robot do not send the same error signal, it thus seems that the torso boards may be damaged. From previous users, I know the torso had issues, and I am thus looking for a way to bypass it. Could you lease help me with it ?

I also get a bunch of hw_fault status, is this related?

Thank you in advance.

Additional context

iCub_log.txt

How does it affect you?

No response

[edersonferrante]

Hi @DJacquemont based on the logs you sent us, I’d first like to confirm a few points:

Messages related to the external fault button being pressed are reported only by the EB5 torso board ?(torso-eb5-j0_2).
The joints connected to that board are the only ones that switch to the IDLE state? (which is the expected behavior when an external fault is detected).

[DJacquemont]

Hi @edersonferrante thank you for your reply.

1. The logs I sent you are all the logs I had. From the logs it seems like indeed the only joints reporting this fault are the torso joints.
2. How can I check which joint is in IDLE state ? Newbe here with iCubs sorry :)