iCubGenova09 (iRonCub3) S/N:000 – Right hip roll motor goes into overcurrent fault when moving (i2t fault)

[HosameldinMohamed]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

When trying to move the right hip roll joint of the robot, it goes into a hardware fault and it says it is passing the i2t limit.

Detailed context

We checked the motor current while moving the joint and it grows to a very high value (around 20A if not wrong @davidegorbani). At this point we are not sure if the current measurement is real and the current is really high, or the maybe the measurement is wrong.

We made a short video to describe the movement, as shown below.

The left hip roll joint does the same movement without an issue.

Additional context

The video shows another problem happening with the torso roll joint. I opened issue #1680.

20231109_173554.mp4

How does it affect you?

It could block iRonCub experimental activities.

CC @gabrielenava @DanielePucci

[sgiraz]

Closing as duplicated #1652

cc @AntonioConsilvio

[DanielePucci]

Apologies @sgiraz, I got the wrong linking in the browser due to cache memory: you are right, it is a duplicate . Closing.