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ergoCub 1.1 S/N:001 – Cabling issues on left arm and head #1961

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S-Dafarra opened this issue Nov 14, 2024 · 1 comment
Open

ergoCub 1.1 S/N:001 – Cabling issues on left arm and head #1961

S-Dafarra opened this issue Nov 14, 2024 · 1 comment
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@AntonioConsilvio @filippoborgogni @edersonferrante
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ergoCub 1.1 S/N:001 ergoCub1.1 platform

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@S-Dafarra
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Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While teleoperating the robot (without the right arm), we started having issues reading the encoders. In particular, I noticed the following errors

Error 1

[ERROR]   FATAL: EthResource::getRemoteValue() DID NOT have replies from BOARD head-eb21-j2_3 with IP 10.0.1.21  even after 0.00565791 seconds: CANNOT PROCEED ANY FURTHER

Error 2

[ERROR] HostTransceiver::addSetROP__(): ERROR in eo_transceiver_OccasionalROP_Load() for BOARD w/ IP 0.0.1.8 after all attempts with id:  [I, D, 3, 2,  , =,  , 0, x, 0, 1, 0, 0, 0, 0, 1, 2,  , -, >,  , I, N, D,  , =,  , 0, ,,  , T, A, G,  , =,  , e, o, p, r, o, t, _, t, a, g, _, m, c, _, j, o, i, n, t, _, i, n, p, u, t, s, _, e, x, t, e, r, n, a, l, l, y, m, e, a, s, u, r, e, d, t, o, r, q, u, e, 
[ERROR] theNVmanager::Impl::set() fails t->addSetROP() to BOARD left_leg-eb8-j0_3 IP 10.0.1.8 for nv ID32 = 0x01000012 -> IND = 0, TAG = eoprot_tag_mc_joint_inputs_externallymeasuredtorque
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_OccasionalROP_Load() for BOARD /w IP [1, 0, ., 0, ., 1, ., 9, 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  5106 22068 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_OccasionalROP_Load() for BOARD /w IP [1, 0, ., 0, ., 1, ., 2, 1, 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  35583 32581 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addROPask(): eo_transceiver_OccasionalROP_Load() for BOARD w/ IP [1, 0, ., 0, ., 1, ., 2, 1, 
[WARNING] HostTransceiver::addROPask(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  64124 32580 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_OccasionalROP_Load() for BOARD /w IP [1, 0, ., 0, ., 1, ., 9, 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  63612 32580 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_OccasionalROP_Load() for BOARD /w IP [1, 0, ., 0, ., 1, ., 2, 1, 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  35583 32581 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addROPask(): eo_transceiver_OccasionalROP_Load() for BOARD w/ IP [1, 0, ., 0, ., 1, ., 2, 1, 
[WARNING] HostTransceiver::addROPask(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  64124 32580 656
[ERROR] embOBJerror(): errtype =  TRACE from EOobject = 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_OccasionalROP_Load() for BOARD /w IP [1, 0, ., 0, ., 1, ., 9, 
[WARNING] HostTransceiver::addSetROP__(): eo_transceiver_lasterror_tx_Get() detected: err= 5 infos =  63612 32580 656
[ERROR] HostTransceiver::addSetROP__(): ERROR in eo_transceiver_OccasionalROP_Load() for BOARD w/ IP 0.0.1.21 after all attempts with id:  [I, D, 3, 2,  , =,  , 0, x, 0, 1, 0, 0, 0, 1, 1, 4,  , -, >,  , I, N, D,  , =,  , 1, ,,  , T, A, G,  , =,  , e, o, p, r, o, t, _, t, a, g, _, m, c, _, j, o, i, n, t, _, c, m, m, n, d, s, _, s, e, t, p, o, i, n, t, 
[ERROR] theNVmanager::Impl::set() fails t->addSetROP() to BOARD head-eb21-j2_3 IP 10.0.1.21 for nv ID32 = 0x01000114 -> IND = 1, TAG = eoprot_tag_mc_joint_cmmnds_setpoint
[ERROR] while setting velocity mode
[ERROR] |yarp.devices.controlBoard_nws_yarp| Error while trying to command a velocity move on joint group
[ERROR] HostTransceiver::addROPask(): ERROR in eo_transceiver_OccasionalROP_Load() for BOARD w/ IP [1, 0, ., 0, ., 1, ., 2, 1, 
[ERROR] theNVmanager::Impl::ask() fails res->addROPask() to BOARD head-eb21-j2_3 IP 10.0.1.21 for nv ID32 = 0x0100010e -> IND = 1, TAG = eoprot_tag_mc_joint_status_core_modes_ismotiondone
[WARNING] EthResource::getRemoteValue() cannot have a reply from BOARD head-eb21-j2_3 with IP 10.0.1.21 at attempt # 1 w/ timeout of 0.2 seconds
[ERROR]   FATAL: EthResource::getRemoteValue() DID NOT have replies from BOARD head-eb21-j2_3 with IP 10.0.1.21  even after 0.00573182 seconds: CANNOT PROCEED ANY FURTHER
[ERROR] Failure of askRemoteValue() inside embObjMotionControl::checkMotionDoneRaw(j= 1 ) for  BOARD head-eb21-j2_3 (IP 10.0.1.21) 
[ERROR] embOBJerror(): errtype =  TRACE from EOobject =

Error 3

[ERROR] from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=10049s 332m 930u :  MC: external fault button pressed.
[ERROR] from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=10049s 333m 47u :  MC: external fault button pressed.

⚠ The HF button was not pressed

Error 4

[WARNING] from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=9770s 220m 596u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 627[usec]. Latest previous execution times[usec] (..., Tx=0);(RX=0, DO=0, TX=0);
[ERROR] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 154m 40u :  SYS: the EOtheInfoDispatcher could not accept a eOmn_info_properties_t item inside its transmitting queue. Number of lost items is  36.
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 332u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 448u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 565u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 681u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 793u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 151m 906u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 25u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 140u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 255u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 366u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 476u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 588u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 699u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 810u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 152m 922u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 36u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 146u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 261u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 371u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 481u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 594u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 705u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 815u : SYS: detected a runtime error
[WARNING] from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=9770s 153m 928u : SYS: detected a runtime error

Error 5

[WARNING] from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=10036s 58m 237u :  MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. (Joint=l_ring_pinky_oc (NIB=3), encoderPort=0)

Detailed context

Here the full log: log_robot_issue_left_arm.zip

Note, these errors are quite intermittent, might be depending on the motion of the robot, and the robot starts nonetheless.

Additional context

No response

How does it affect you?

No response
@github-actions github-actions bot changed the title Cabling issues on left arm and head ergoCub 1.1 S/N:001 – Cabling issues on left arm and head Nov 14, 2024
@github-actions github-actions bot added the ergoCub 1.1 S/N:001 ergoCub1.1 platform label Nov 14, 2024
@S-Dafarra
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cc @Fabrizio69 @maggia80

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@AntonioConsilvio AntonioConsilvio

@filippoborgogni filippoborgogni

@edersonferrante edersonferrante

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ergoCub 1.1 S/N:001 ergoCub1.1 platform
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@S-Dafarra @AntonioConsilvio @filippoborgogni @edersonferrante