Reviving the iCubAnkara01: T1 – Motors causing S/D of power supply #664

EbruBaglan · 2023-11-02T10:41:15Z

EbruBaglan
Nov 2, 2023

Brief Description

Q1. xantrex XFR 60-46 goes into S/D when the motors are turned on. How to spot the cause of the problem?
Q2. Is there any button to start the head in this model (iCub 1.x)?

Devices at Hand

iCubAnkara01 (iCub 1.x, version not exactly known)
Power Supply 1: xantrex XFR 35-35
Power Supply 2: xantrex XFR 60-46
iCub Laptop: DELL Latitude E4300

Detailed Context

I have found an iCub in a research institution in Ankara, which is from around 20 years ago. Since I have done an internship at IIT, I thought of giving it a second life.

The model seems to be iCub 1.x as I learned from Marco Maggiali, which the documentation does not support anymore. You can find photos below to make sure. I even made a diagram of connections to spot the exact version of it, hopefully.


iCubAnkara01	The single output connection	The connection diagram

I have two power supplies at hand. From a previous mailing with iCub Tech, I received the following voltage and amp values to set.

Xantrex XFR 35-35: 12/12.5V-15A
Xantrex XFR 60-46: 40V-20A

First, I set the limits as these and then I powered the iCub. I have a switch for turning on/off the CPU and motors as seen in connection diagram. I turned on CPU and no problem. But the moment I turned on the motors switch, xantrex XFR 60-46 goes into S/D.

So I guess there is a problem with the motors and I am looking for a solution to spot the cause.

Note: I have not pressed any button to start icub-head, is there any button in this model? According to the documentations, there is one in the newer models, but I do not know about this model.

Thank you so much in advance and hopefully this little guy will receive its second chance in life :)