This website uses browsing/session and functional cookies to ensure you get the best experience. Learn More

ICubInterface Errors

From Wiki for iCub and Friends
Jump to: navigation, search

Message structure of iCubinterface output

device BUS # message
ecan refer to the Wiring manual for complete reference Error/log message here
cfw2can refer to the Wiring manual for complete reference Error/log message here

Common iCubInterface Errors

Here come a NON COMPLETE list of the most common errors you can see popping up in the iCubInterface STDIO and their possible cause:

ecan [0] board 7 ABS ENCODER ERROR AXIS 1
  • The absolute encoder is not working / responding

Possible Cause:

  • Broken wire to the encoder
  • Broken encoder

ecan [0] board 6 HALL SENSOR ERROR AXIS 0
  • The Hall sensor on the motor (motor encoder) is not working / responding

Possible Cause:

  • Broken wire to the motor encoder
  • Broken encoder
  • Noise on the wire is inducing weird encoder reading. Missing ferrite beads on motor harness.

ecan [0] board 6 FAULT OVERVOLTAGE
  • BLP board sensors detect too high tension on the supply line

Possible Cause:

  • Wrong voltage set on External Power Supply (too High)

ecan [0] board 6 FAULT UNDERVOLTAGE
  • BLP board sensors detect too low tension on the supply line

Possible Cause:

  • Wrong voltage set on External Power Supply (too Low)
  • Current limit too low on the external Power Supply

ecan [0] have not heard from board 5 (channel 0) since 79.14 seconds
ecan [0] have not heard from board 5 (channel 1) since 79.14 seconds
ecan [0] have not heard from board 6 (channel 0) since 79.14 seconds
ecan [0] have not heard from board 6 (channel 1) since 79.14 seconds
ecan [0] have not heard from board 7 (channel 0) since 79.15 seconds
ecan [0] have not heard from board 7 (channel 1) since 79.15 seconds
ecan [0] joint 0, warning not enough encoder messages (received 0 msgs)
ecan [0] joint 1, warning not enough encoder messages (received 0 msgs)
ecan [0] joint 2, warning not enough encoder messages (received 0 msgs)
ecan [0] joint 3, warning not enough encoder messages (received 0 msgs)
ecan [0] joint 4, warning not enough encoder messages (received 0 msgs)
ecan [0] joint 5, warning not enough encoder messages (received 0 msgs)
  • The mentioned board failed to report on CAN BUS. The respective joint throws an error as well

Possible Cause:

  • The board did not start up correctly
  • Wrong firmware version is loaded on the board (refer here for correct firmware versioning).

ecan [0] board 7 FAULT EXT AXIS 0
ecan [0] board 7 FAULT EXT AXIS 1
ecan [0] board 5 FAULT EXT AXIS 0
ecan [0] board 5 FAULT EXT AXIS 1
ecan [0] board 6 FAULT EXT AXIS 0
ecan [0] board 6 FAULT EXT AXIS 1
  • External fault detected on the mentioned board

Possible Cause:

  • EMERGENCY STOP (External Fault) is depressed
  • Single board fault wire is disconnected

if you got this line repeated by the number of boards you have on all your CAN nets:

************************************
iCubInterface CAN protocol: 1.1
Firmware report:
pcan [X] joint: X can_address: X Unable to detect firmware version. Old firmware running?

followed by:

###################################################################################
###################################################################################
 It has been detected that your control borads are not using the same
 CAN protocol used by iCubInterface. iCubInterface cannot continue.
 Please update your system (iCubInterface and/or your control board firmware.
 For further informationn please visit: http://eris.liralab.it/wiki/Firmware
###################################################################################
###################################################################################

it means that your robot is an old version one (V1.0) and it can note run with the module ICUB_CANPROTOCOL_STRICT possible solution:

  • on PC104 rebuild $ICUB_ROOT/main/build by doing ccmake ../ and disable this ICUB_CANPROTOCOL_STRICT module selectionning OFF



Back to the table of contents

Personal tools
Namespaces

Variants
Actions
Navigation
Print/export
Toolbox