ergoCub 1.3 S/N:002 – Right arm elbow joint CAN not transmitting

[SimoneMic]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

After starting the robot with the usual yarprobotinterface the terminal is flooded with error messages:

[ERROR] from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=64s 942m 108u :  SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 3
[WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=64s 942m 229u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 2775[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=2774); (Rx=41, DO=151, ...). Num of CAN frames[CAN1,CAN2]=[1 3]

The right elbow is really slow to commands and is barely moving at all, and it fails the calibration process.

Detailed context

The calibration phase of the right elbow fails and the joint remains in idle.
Sometimes this error stops the execution of the startup phase and fails the launch of the yarprobotinterface. After a couple of attempts it was possible to start the calibration.

It is possible to move the joint using the yarpmotorgui but it's really slow and jaggy.
It's not possible to run any controllers and use the right arm.

Additional context

No response

How does it affect you?

No response

[AntonioConsilvio]

The problem arose from the fact that the robot's right arm skin was not being found on the CAN (MTB4).

This error is not blocking, however it sends such a large number of errors that it slows down the CAN communication on the board and consequently also worsens the control and calibration of the joints.

Now the robot works correctly! Closing!