iCubGenova09 (iRonCub3) S/N:000 – Torso pitch joint suffers frequent spikes

[HosameldinMohamed]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

The torso pitch motor started to jump at random times, sometimes the jumps are large enough to stop the motor with a Hardware Fault.

Suddenly, it became so frequent.

Detailed context

The Warning messages we found in yarp logger could be related to the issue

Additional context

Looking at the robot we found the following wires cut from the same motor, not sure which sensor though:

CC @davidegorbani @pillai-s

How does it affect you?

This blocks experiments with iRonCub

[HosameldinMohamed]

We unmounted the chest and back covers of the robot to look the connectors

From the motors' side the wires look fine

the other side of the cables is not accessible unless I unmount the 2FOC board then I can make a continuity test

[HosameldinMohamed]

With @davidegorbani and @nicktrem we unmounted the 2FOC board 0B3 and were able to see the cable of the magnetic encoder WS1 going into the board, one or more of the wires are disconnected

[filippoborgogni]

@AntonioConsilvio and I repaired the damaged cable. Please give us a feedback when you test it !

[HosameldinMohamed]

@AntonioConsilvio and I repaired the damaged cable. Please give us a feedback when you test it!

Hi @filippoborgogni

We started the robot and let it ON for some time while also moving the joints; all seemed good!

Thanks guys!!

[AntonioConsilvio]

Great! Closing 🚀