ergoCub 1.0 S/N:000 – RobotInterface doesn't start because of the Right arm board is not able to discover CAN board

[SimoneMic]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

The right arm board right_arm-eb30-j4_6 IP 10.0.1.30 is not able to discover one of its CAN boards, so the robot is not able to start.
I have checked the firmware updater and all the boards were in application.
After several switching the motors on and off, the issue persisted.
I am attaching an extract of the console log where the errors happened:
errorlog_04-08-2023.txt

Detailed context

While navigating the robot with the crane, it suddenly entered in hardware fault (from the right arm) and collapsed on itself due to the power cut. The robot didn't hit anything, nor event crashed on itself without any relevant collisions.
After switching it back on, the robotinterface wasn't starting. The file that I used is ergocub_wbs_ros2.xml

Further notes:
The robot was in battery mode and charged with both the power supplies on.
No particular errors for the hardware fault.

Additional context

No response

How does it affect you?

No response

[AntonioConsilvio]

Hi @SimoneMic I found the M0 motor of the right wrist and the 30B0 board burnt out.

We will plan replacement.

cc @sgiraz

[AntonioConsilvio]

@SimoneMic regarding random shutdowns of the robot's boards (and therefore the motors), there is already an issue we are working on.

cc @sgiraz

[AntonioConsilvio]

Hi @SimoneMic, we replaced the burnt-out motor and the burnt-out board.

The robot has been tested and now the right wrist is working properly.

Wrist-test.mp4

This is the PR that updates the configuration file (the robot is already updated):

• ergoCub000: Update right wrist calibration values robots-configuration#554

cc @sgiraz @mfussi66