ergoCub 1.0 S/N:000 – Right hip roll motor smoked

[isorrentino]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

While using the robot the right hip roll motor smoked, but we were not asking for high motor currrents. So, we do not have any log or strange error, only the overcurrent from the motorgui.

Detailed context

Is it possible to double check if this motor is still working fine or it needs to be replaced?

Thanks a lot.

cc @Gandoo @Fabrizio69 @fbiggi

Additional context

No response

How does it affect you?

No response

[Gandoo]

ciao @isorrentino @AntonioConsilvio we checked the continuity of the 3 phases of the motor and they are ok, then we tried the movement with the box and it is ok, then reconnected and it seems to work.

cc @filippoborgogni @Fabrizio69 @maggia80 @DanielePucci @edersonferrante

[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