icub-tech-support
icub-tech-support copied to clipboard
robotology
ergoCub 1.1 S/N:001 – r_ring_pinky_oc goes to overcurrent
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
Here the error:
[ERROR] from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=5199s 413m 348u : MC: overcurrent. The motor has been turned off to prevent it from being damaged by an impulsive spike of current. (Joint=r_ring_pinky_oc (NIB=3))
Detailed context
Here the big full log
Additional context
No response
How does it affect you?
No response
https://github.com/robotology/icub-tech-support/issues/2037#issue-2874607777
Hi @S-Dafarra , I worked to solve this issue and this one and after various tests also using the jogger board I could observe that the problem does not seem to be hardware-related, because using the JOGGER board I could observe that the finger moves correctly.
cc @AntonioConsilvio @Fabrizio69
problem does not seem to be hardware-related
I think we cannot exclude this yet. I believe that the jogger does not care too much about the current used to move the motor, while the current readings on the motorgui are too seldom to actually check if we are reaching the limit.
Maybe there is some increased friction in the mechanism?
Hi @S-Dafarra , the tendon had no problems but it was going overcurrent so we removed the motor and noticed that the shaft had axial play :
https://github.com/user-attachments/assets/83e051ad-cec1-4c0f-b1cd-0d1a5a189759
So we replaced it with a new one.
Now the pinky works perfectly.
https://github.com/user-attachments/assets/880ea937-5a7c-4d15-9404-37c5c4bfe82f
https://github.com/user-attachments/assets/ce233cf1-2158-4ea0-ac20-6e6908e549bc
cc @Fabrizio69 @fiorisi @AntonioConsilvio
