ergoCub 1.1 S/N:001 – Right anklle roll and pitch encoders jump

[GiulioRomualdi]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

We started the robot and the right ankle pitch suddenly jumped. We checked the encoder value and even if the joint was manually p[aced in zero. The values where highly different from zero

Detailed context

We cannot use the AMO on the ankle

Additional context

No response

How does it affect you?

No response

[GiulioRomualdi]

cc @fbiggi @filippoborgogni

[filippoborgogni]

Hi @GiulioRomualdi , I fixed the cable that connects the AMO board of the ankle pitch to the EB7 board (ems4). I tested the robot doing a cycle of movement and both joints (ankle pitch and ankle roll) seems to work properly. Give us a feedback ! 🚀

cc @AntonioConsilvio

[GiulioRomualdi]

Hi @filippoborgogni, I tested the robot. The right ankle pitch remains uncalibrated. Moving the joint manually, the encoder value doesn't change

[filippoborgogni]

Hi @GiulioRomualdi , yesterday with @edersonferrante I worked to solve this issue. I could see, during the debugging phase, that the cable (label RLS4) connecting the ems4 board (label EB7) to the AMO board of the right ankle pitch joint was damaged (in the photo below you can see that the red cable was broken).

I fixed the cable and checked that the robot was working properly. During this phase I could also see that the AMO board reading of the right knee joint was wrong; I then observed how the cable (label RLS3) had the red wire coming out of the connector and how the connector was damaged.

I then replaced the connector and reconnected the sensor to the ems4 board (label EB6). I then checked that the robot worked correctly and that the joints of the right ankle pitch and right ankle roll were able to move throughout the range of motion (test which can be seen in the video below).

https://github.com/user-attachments/assets/67230a5a-83dd-4939-91c3-ac53f14213e9

I also made a commit in robots-configuration to enable again the AMO reading for the ankle pitch joint (the file that i changed is hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml)

Closing!🚀

cc @AntonioConsilvio @Fabrizio69