ergoCub 1.0 S/N:000 – Torso pitch motor burned

[isorrentino]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

I turned on the robot and the pitch of the torso started to smell making a strange noise, as if it was frying. After this, the measured motor current started to be 11 Ampere without moving the joint.

cc @DanielePucci

Detailed context

I do not have anything to add here.

Additional context

No response

How does it affect you?

No response

[github-actions]

⚠️ Detected missing mandatory information

Hi @isorrentino 👋🏻

Some of the following points need your attention.

You are required to:

• enter the Robot Name.
• give the issue a meaningful Title.
• provide a Detailed Context (at least 100 characters).

_{Please, mark the points above as solved once done.}

[isorrentino]

cc @Gandoo @fbiggi

[Gandoo]

ciao @isorrentino @AntonioConsilvio
Last week they did some tests with the turbines, they added weight on the upper and as a result the engine may have suffered damage due to the position holding!!

cc @Fabrizio69 @DanielePucci @maggia80

[Gandoo]

ciao @isorrentino @AntonioConsilvio
and the locking pin has been placed, it is necessary to remember to disable the engine pending verification and possible replacement.
Grazie!!

cc @Fabrizio69 @DanielePucci @maggia80

[Gandoo]

ciao @isorrentino @AntonioConsilvio we checked the continuity of the 3 phases of the motor and they are fine, then we tried the movement with the box and it is fine, then we reconnected and it seems to work.
The problem noted is that if the robot has its arms forward it struggles to return to an upright position unlike when they are perpendicular to the body

cc @Fabrizio69 @DanielePucci @maggia80 @filippoborgogni @edersonferrante

[isorrentino]

We tried to use the robot with the torso_pitch enabled, but it continuously went to hardware fault. @fbiggi put back the pin again and changed the configuration files for removing it from calibration.

[isorrentino]

A similar problem has been observed on ergoCubSN002 by @S-Dafarra #1990.

We have determined that the motor burnouts were not caused by the experiments but rather by the new 2FOC firmware version released in https://github.com/robotology/icub-firmware-build/releases/tag/v1.41.0

We changed the firmware back to the old release and the problem of continuous hardware faults, mentioned also here, disappeared.

Anyway, the motor is still not working properly, maybe the phases are almost gone (as also mentioned by @Gandoo to me during the latest test). So I would double-check the status of this motor.

cc @Fabrizio69 @DanielePucci @maggia80 @ale-git @Gandoo @AntonioConsilvio @GiulioRomualdi @fbiggi