ergoCub 1.3 S/N:002 – Robot does not start for left ankle roll overheating

[Giulero]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

Similar to #2016 When starting the robotinterface we got several errors due to overheating.

Detailed context

This is the error

[ERROR] from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=104s 879m 318u :  MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=l_ankle_roll (NIB=1), Raw_temperature_value=-886)

Additional context

Last time it was a damaged cable

How does it affect you?

No response

[valegagge]

Hi @AntonioConsilvio ,
could you tell me if there is the i2c_ext board on the affected joint, please?
thanks

[maggia80]

@valegagge yes there is, we installed them in IROS

[S-Dafarra]

It is happening quite often:

• ergoCub 1.3 S/N:002 – Robot does not start for left ankle roll overheating #2016
• ergoCub 1.3 S/N:002 – Left ankle roll temperature sensor broken #1995

[maggia80]

@S-Dafarra do you have a log of the temperature? Because the problem could be a real overheating.

@MSECode could you help with the log in case we don't have any?

[MSECode]

Actually, looking at the error message on the log the problem was due to the fact that the TDB stopped receiving data on the i2C bus (raw value -886). Now, this might be due to the following reasons:

• cable or connector disconnected or partially out from the crimp, thus in some position it does not make good contact
• sensor that froze up and was not able to receive the restart request --> this problem is not totally clear and might be investigated more. As a matter of fact in other similar issues happened that when restarted the sensor was able to read again. Thus, we are not sure if this could be due to a sensor "freezing" or to the cable.

See the issues linked by stefano at the comment: #2029 (comment) where we basically had the same exact problem. In that case was due to the cable outside of the crimp (#2007 (comment)).

See also this: #2007 that has a good analysis
Anyway, looking at the closed issues in the tickets repo most of the time we have such problem on the ankle-roll. I'll post here all the latest issue thus we can keep them for further analysis if needed:

• ergoCub 1.3 S/N:002 – Issue on right ankle pitch temperature sensor #1986
• ergoCub 1.3 S/N:002 – Left ankle roll temperature sensor broken #1995
• ergoCub 1.3 S/N:002 – Robot does not start for left ankle roll overheating #2016
• ergoCub 1.3 S/N:002 – l_shoulder_pitch goes into overheating fault #2007
• ergoCub 1.3 S/N:002 – Right Ankle Roll goes in over temperature #1809

[valegagge]

I guys,

in order to keep tack of the issues related to the motor temperature I started to collect all the last issues (after the use of the I2c-EXT boards) in a table reporting a;also the cause of the raised problem.

Here it is: https://github.com/icub-tech-iit/five/issues/291

For whom hasn't the access, here I report the table I created.

Issue	Link	Cause	Solution
ergoCub 1.3 S/N:002 – Robot does not start for left ankle roll overheating	#2016	[ERROR] from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=42s 274m 261u : MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=l_ankle_roll (NIB=1), Raw_temperature_value=-886)	Cable replaced
ergoCub 1.3 S/N:002 – l_shoulder_pitch goes into overheating fault	#2007	195.915567 ERROR from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=550s 816m 404u : MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=l_shoulder_pitch (NIB=0), Raw_temperature_value=-886)	Cable repaired
ergoCub 1.3 S/N:002 – left_leg-eb8-j0_3 & right_leg-eb6-j0_3 MC overheating and random eo_transceiver_OccasionalROP_Load()	#2006	[ERROR] from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=2883s 847m 313u : MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=l_hip_pitch (NIB=0), Raw_temperature_value=-886)	Still open
ergoCub 1.1 S/N:001 – Right knee vibrates while calibration	#2000		fix tendeon and temperature calble of hip pitch
ergoCub 1.3 S/N:002 – Left ankle roll temperature sensor brokensupport/issues/1995	#1995	left ankle roll temperature sensor stopp. We tried replacing the i2c extender, but the 2foc went into short circuit and did not start at all.ed working	TDB board replaced
ergoCub 1.3 S/N:002 – Weird smell coming from the robot and errors on the right leg	#1987	A few minutes after startup we started smelling something weird coming from the robot. From the motorgui I noticed that both right ankle roll and pitch were in hardware fault.	motor replaced. Cuyrrent fw issue
ergoCub 1.3 S/N:002 – Issue on right ankle pitch temperature sensor	#1986	high temperature value	motor was burnt out
ergoCub 1.1 S/N:001 – [Fake overheating motor l_knee]	#1941	[ERROR] from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=154s 378m 40u : MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=l_knee (NIB=3), Raw_temperature_value=385)	cable repaired