Motor protection and current limits

[hu-yue]

Hi,
In case we perform a motion (like stair climbing) with the robot that requires more current than the set limits, what exactly would happen in this case? Would the single joint go on HW fault?
How high would be the probability of damaging a motor despite the protection with the limits?
(with current limits I mean https://github.com/robotology/icub-main/blob/master/app/robots/iCubHeidelberg01/hardware/motorControl/left_lower_leg-ems7-mc.xml#L15 , is this correct?)
Thanks!

[pattacini]

@randaz81 do you have some insights to share on this?

[hu-yue]

Hi, I almost forgot about this issue. I've already performed the stair walking and the knee motor went HW fault due to overcurrent, I was able to perform the motion by increasing the current limit, but I'm still a bit concerned about how much it's safe to increase it and how fast does the limit trigger the HW fault?
Thanks!

[pattacini]

Better mark this issue as unanswered and close it.
@hu-yue feel free to ping again on this.

[randaz81]

Current overload protection at firmware level is currently under refactoring/development.

[...] but I'm still a bit concerned about how much it's safe to increase it and how fast does the limit trigger the HW fault [...]

It is not safe. You should be very careful until the new FW build is released.