iCubWaterloo01 S/N:044 – "MC: AEA encoder invalid data" error in shoulder joint

[paliasgh]

Robot Name 🤖

iCubWaterloo01 S/N:044

Request/Failure description

Hello,

This morning, our robot ran into a new problem. Almost every time, after the first movement of robot's left arm, the arm goes into HF mode with the error: "MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. (Joint=l_shoulder_yaw (NIB=2), encoderPort=0)". yarprobotinterface continues running with other parts.

I think it is a common issue (reported many times in the past), but looking at old issues I could not find the right solution for our robot, so I am posting a new issue. It might be another cable or connector issue.

Thanks in advance for your support.

Detailed context

Here is a yarprobotinterface log file:

yarprunlog_04_06_2024_15_01_01.log

(Some errors contain the label 'right' shoulder, but in fact, it looks like everything is with the 'left' shoulder. Right shoulder is doing okay!)

yarpmotorgui screenshot after the fault:

And before the fault:

Additional context

No response

How does it affect you?

No response