ergoCub 1.1 S/N:001 – Right leg knee joint reads encoders position (joint and motor) but fails to reach the startup position during calibration due to MC overcurrent fault

[MSECode]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

As per title. During calibration procedure knee joint of the right leg fails to end the whole calibration procedure. In particular, it can reaches the hard stop position but it fails to go to the startup position due to overcurrent problem that sets it to HW FAULT CONTROLMODE.
If it is moved to IDLE CONTROL MODE, we verified that it can correctly reads both motor and joint encoder. However, we just checked that the values varies but we did not monitor eventual spikes (that might cause the overcurrent issue).

Detailed context

As per previous section.

Additional context

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How does it affect you?

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[filippoborgogni]

Hi @MSECode ,
today @AntonioConsilvio and I have been working on solving this problem.

During the debugging phase:

• we observed how the cable (label RLE3) connecting the 2foc board (label 6B1) to the LCORE5 board was damaged and we fixed it;
• we fixed the cable (label E7) connecting (via ethernet) the ems4 board (label EB7, located in the right lower leg) to the ems4 board (label EB8, located in the left leg) that we noticed it was damaged;
• we tested the reading of the right knee joint without the AMO sensor (using the motor encoder for position reading instead).

As the joint continued to fail, we observed that the 3 phases of the motor of the right knee were damaged.
We repaired it and now the robot works properly!

Closing!🚀