ergoCub 1.1 S/N:001 – Right Arm Elbow Encoder Reading Wrong Values

[SimoneMic]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While using the robot, the right elbow went in HW fault caused by the error: AEA encoder invalid data
While manually moving the joint we have seen erratic encoder values.

Detailed context

Here's the log of the error:

[ERROR] from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=725s 661m 46u :  MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. (Joint=r_elbow (NIB=1), encoderPort=0)
[ERROR] setReferenceRaw: skipping command because BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)   joint  1  is not in VOCAB_CM_POSITION_DIRECT mode
[ERROR] setReferenceRaw: skipping command because BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)   joint  1  is not in VOCAB_CM_POSITION_DIRECT mode
[ERROR] setReferenceRaw: skipping command because BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)   joint  1  is not in VOCAB_CM_POSITION_DIRECT mode
[ERROR] setReferenceRaw: skipping command because BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)   joint  1  is not in VOCAB_CM_POSITION_DIRECT mode
[ERROR] setReferenceRaw: skipping command because BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)   joint  1  is not in VOCAB_CM_POSITION_DIRECT mode
[ERROR] |event-downsampler| [mc.skipped-cmd-wrong-mode] BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)  - detected 58 events on aggregate since the last message

Additional context

No response

How does it affect you?

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[AntonioConsilvio]

Hi! @AntonioAzocar and I fixed both LCORE5 (RA_E3) cable and AMO cable (RA_S3). The robot has been tested and it works properly now! Closing!