R1 S/N:003 – Left arm index/thumb overcurrent

[fbrand-new]

Robot Name 🤖

R1 S/N:003

Request/Failure description

When starting up the robot we frequently observe overcurrent in the left index_oc and in the left thumb_oc.

Detailed context

I can recall observing the same issues sometimes on the right one as well, but way less frequently than the left arm. Also, sometimes the same issue is not related to the index and thumb of the left arm but may happen on the middle or pinky as well.

Attached you can find the full log of the yarprobotinterface.

yriLogOvercurrent.txt

Could you please take a look at it?

Thanks!

Additional context

No response

How does it affect you?

No response

[filippoborgogni]

Hi @fbrand-new ,
Over the last few days, with @edersonferrante, I have been working to resolve this issue and releted issues:

• R1 S/N:003 – Left index often going in hardware fault #2213;
• R1 S/N:003 – Left thumb adduction issue #2211.

After trying several solutions, I observed that the problem was neither the FAP or the cable connecting the FAP to the MMA board.
We then verified that all the joints were working correctly mechanically using the JOGGER Board.
After that, we observed that the reading of all the finger encoders, with the exception of the index add joint, was stuck at 0.
We then realised that the problem was not the various finger FAPs, but the MMA board to which they are connected.
This issue and the others previously linked could be resolved simply by replacing the MMA board.
For the time being, these issues remain open, in order to be sure that once the board is replaced, the problems will be resolved.

cc @Fabrizio69 @pattacini

[AntonioConsilvio]

Hi! I would like to clarify the problem mentioned in this issue.

The fingers go into overcurrent for no apparent reason.
Sometimes with simple movements, other times during the calibration phase.
In fact, there is no need to grasp objects, as the problem occurs randomly in all fingers of both hands and with normal movements without load.

I tried checking the configuration files, but I didn't notice anything unusual.
I then tried lowering the PIDs, maxoutput and other values that could affect the joints, but I was unable to achieve any results.

I did not encounter any mechanical problems.

We will try to resolve this issue as soon as possible.

cc @Fabrizio69