ergoCub 1.0 S/N:001 – Temperature sensor issue on torso roll, torso pitch, left elbow, right hip roll and left hip pitch

[S-Dafarra]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

The torso roll and the left elbow go to hardware fault due to overheating at soon as the robot is turned on

Detailed context

The error is

[ERROR] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=309s 335m 918u :  MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=torso_roll (NIB=0), Raw_temperature_value=-886)

Removing the sensor

Additional context

No response

How does it affect you?

No response

[S-Dafarra]

The same error also on right hip roll

cc @MSECode

[S-Dafarra]

Possibly related: https://github.com/robotology/icub-tech-support/issues/2073

[MSECode]

Yes, after some experiments done both on a bench setup and on the robot we have realised that those errors are likely due to the fact that some joints might mount a version of the TDB with wrong resistor that make the output signal too low to be correctly sent on the i2C bus. The affected joints should be:

• ergoCub001 torso_roll
• ergoCub002 shoulder_yaw_r
• ergoCub002 elbow_r
• ergoCub002 shoulder_pitch_l
• ergoCub002 shoulder_roll_l

[S-Dafarra]

I am adding to this list also the torso pitch. It happened while preparing for a demo

[ERROR] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=1315s 893m 280u :  MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating. (Joint=torso_pitch (NIB=1), Raw_temperature_value=-886)

Here the full log

log_demo_ferrari.zip

[S-Dafarra]

Just noticed another one from the same log. This time on the left hip pitch. This one was particularly dangerous as the robot was walking without protection during an important demo

[ERROR] from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=5368s 198m 265u :  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)

[github-actions[bot]]

This issue has been automatically marked as stale because it did not have recent activity. It will be closed if no further activity occurs.

[isorrentino]

Today, I had to disable the temperature sensor for the torso pitch as it was continuously going into a hardware fault.

cc @S-Dafarra