Calibration type 5 - motor contolled using ems4 and 2foc #500

wevmacedo · 2021-03-31T16:35:20Z

wevmacedo
Mar 31, 2021

We are testing the calibration type 5, using one DC motor connected to an 2foc board. The firware running on the board is here This firmware allows to change IP addresses and we want to be able run the calibration type 5.

The configuration files are in this folder.

The calibration file is as follows:

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


	<device xmlns:xi="http://www.w3.org/2001/XInclude" name="knee-one-calibrator" type="parametricCalibratorEth">
                <xi:include href="../general.xml" />
                
		<group name="GENERAL">
		    <param name="joints">  1  </param> <!-- the number of joints of the robot part -->
		    <param name="deviceName"> Knee_one_Calibrator </param>
		</group>

        <group name="HOME">
        <param name="positionHome">                       0        </param>
        <param name="velocityHome">                       10.00    </param>
        </group>
               
        
        <group name="CALIBRATION">
        <param name="calibrationType">                    5        </param>
        <param name="calibration1">	2000		</param> 
        <param name="calibration2">	0	    </param> 
        <param name="calibration3">	0		</param>
     
        
        <param name="calibration4">                       0.0        </param>
        <param name="calibration5">                       0.0        </param>
        <param name="calibrationZero">                 0.0        </param>
        <param name="calibrationDelta">                   0.1        </param>
        <param name="startupPosition">                   0.00       </param>
        <param name="startupVelocity">                    10.0        </param>
        <param name="startupMaxPwm">                   1200          </param>
        <param name="startupPosThreshold">                90          </param>
        </group>

		<param name="CALIB_ORDER">(0) </param>

		<action phase="startup" level="10" type="calibrate">
		    <param name="target">knee-one-mc_wrapper</param>
		</action>

		<action phase="interrupt1" level="1" type="park">
		    <param name="target">knee-one-mc_wrapper</param>
		</action>

		<action phase="interrupt3" level="1" type="abort" />

	</device>

And the output from yarprobotinterface is as follows:

🔘 Click to expand

[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-ems4-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-ems4-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] Preprocessor complete in:  0.0132848 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.1.3.104:10002/
[INFO] startup phase starting...
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  10.1.3.104:12345
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[WARNING] in EthReceiver::config() the config socket has queue size =  1048576 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG] eth::parser::print(boardData) for BOARD knee-eb10-j1
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.1.3.11
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  knee-eb10-j1
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.1.3.11 (knee-eb10-j1) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.1.3.11
[WARNING] embObjMC BOARD  knee-eb10-j1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] embObjMC BOARD  knee-eb10-j1 :fromConfig() detected that IMPEDANCE parameters section is found
[INFO] embObjMC BOARD  knee-eb10-j1 IMPEDANCE section: parameters successfully loaded
[WARNING] AutoCalibration parameter not found for board knee-eb10-j1 in bottle "2FOC" (Autocalibration 1) (Verbose 1) (HasHallSensor 0) (HasTempSensor 0) (HasRotorEncoder 1) (HasRotorEncoderIndex 0) (HasSpeedEncoder 0) (RotorIndexOffset 0) (MotorPoles 2)
[WARNING] In  knee-eb10-j1  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[DEBUG] EthResource::verifyBoardPresence() found BOARD knee-eb10-j1 with IP 10.1.3.11 after 0.0022805 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD knee-eb10-j1 with IP 10.1.3.11
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD knee-eb10-j1 with IP 10.1.3.11 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD knee-eb10-j1 with IP 10.1.3.11 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD knee-eb10-j1 @ IP 10.1.3.11 of type ems4 with FW = ver 3.36 built on 2021 Jan 29 14:0
[DEBUG]  from BOARD 10.1.3.11 (@IóÍ,☻), src LOCAL, adr 0, time 3808s 937m 184u: (code 0x05000015, par16 0x1000 par64 0x00000000000f000f) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD 10.1.3.11 (@IóÍ,☻) @ 3808s 937m 352u: CAN discovery has started for 1 eobrd_foc boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 1.6 and application ver 5.2.220.
[INFO]  from BOARD 10.1.3.11 (@IóÍ,☻) @ 3808s 937m 742u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 5.2.220 Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO]  from BOARD 10.1.3.11 (@IóÍ,☻) @ 3808s 937m 903u: CAN discovery is OK for 1 eobrd_foc boards with target can protocol ver 1.6 and application ver 5.2.220. Search time was 0 ms
[DEBUG]  from BOARD 10.1.3.11 (@IóÍ,☻), src LOCAL, adr 0, time 3808s 938m 87u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD 10.1.3.11 (@IóÍ,☻), src LOCAL, adr 0, time 3808s 975m 252u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD 10.1.3.11 (@IóÍ,☻), src LOCAL, adr 0, time 3808s 975m 365u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] |yarp.dev.PolyDriver| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.controlboardwrapper2| Parameter networks use deprecated syntax
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee_one : no ROS initialization required
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee_one  initting YARP initialization
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/rpc:i active at tcp://10.1.3.104:10007/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/command:i active at tcp://10.1.3.104:10008/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/state:o active at tcp://10.1.3.104:10009/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/stateExt:o active at tcp://10.1.3.104:10010/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] knee-one-mc_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[DEBUG] knee-one-calibrator starting calibration of device knee-one-mc_wrapper
[INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO] Knee_one_Calibrator : starting calibration
[DEBUG] Knee_one_Calibrator : Joints calibration order:
[DEBUG] Knee_one_Calibrator : Calling calibrateJoint on joint  0 : type  5  with params:  2000 0 0 0 0
[DEBUG] Knee_one_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  0.1
[ERROR] Knee_one_Calibrator : Timeout while calibrating  0
[ERROR] Knee_one_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 2 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 3 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 4 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 5 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 6 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 7 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 8 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 9 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 10 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 11 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 12 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 13 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 14 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 15 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 16 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 17 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[ERROR] A 0.250000 sec timeout occured in embObjMotionControl::checkRemoteControlModeStatus(), BOARD knee-eb10-j1 IP 10.1.3.11, joint 0, current mode: cal, requested: idl
[ERROR] failure of embObjMotionControl::checkRemoteControlModeStatus(j=0, targetmode=idl) for BOARD knee-eb10-j1 IP 10.1.3.11 after 17 attempts and 0.263794 seconds
[ERROR] In embObjMotionControl::setControlModeRaw(j= 0 , mode= idl ) for  BOARD knee-eb10-j1 (IP 10.1.3.11)   has failed checkRemoteControlModeStatus()
[DEBUG] knee-one-calibrator finished calibration of device knee-one-mc_wrapper
[INFO] All actions for action level 10 of startup phase finished.
[INFO] startup phase finished.
[INFO] run phase starting...
[DEBUG] yarprobotinterface running happily

The behavior during the calibration is as follows: The motor starts to move in one direction, we do the hardstop with our hands, and the motor stops moving. After the motor stops moving, the messages of the controller trying to to to zero appear, but the motor does not move and reaches the timeout. In this case, the yarpmotorgui shows that the motor is NOT CONFIGURED:

This is the same behavior as reported previously here , and we want to know what parameters we can try to reach a successful calibration.

cc @plinioMoreno

Answered by davidetome

Apr 28, 2021

We did the work, see this PR and let us know.

cc @pattacini @ale-git

View full answer

pattacini · 2021-04-08T16:07:03Z

pattacini
Apr 8, 2021
Maintainer

Hi @wevmacedo

Sorry for the delay, we'll be giving you support on this in the next week.

4 replies

wevmacedo Apr 21, 2021
Author

Hello @pattacini

Thank you, I'll be waiting for this.

davidetome Apr 22, 2021

Hei @wevmacedo,

for this issue in order to help you w/ config files we need to have the motor spec, can you provide us w/ a datasheet?

cc @ale-git @pattacini

wevmacedo Apr 22, 2021
Author

Hi @davidetome,

We are using two Faulhaber motors models, 3242G024CR and 3257G024CR, both with IE2-512 encoders.
Datasheet's:
EN_3242_CR_DFF.pdf
EN_3257_CR_DFF.pdf

cc @plinioMoreno

davidetome Apr 27, 2021

We did the work, see this PR and let us know.

cc @pattacini @ale-git

davidetome · 2021-04-28T05:30:49Z

davidetome
Apr 28, 2021

We did the work, see this PR and let us know.

cc @pattacini @ale-git

0 replies

wevmacedo · 2021-04-29T16:22:35Z

wevmacedo
Apr 29, 2021
Author

We applied the changes to the 2foc related files in this commit, and uploaded the firmware here. However, the behavior is the same, the motor starts the motion for calibration and after the hard stop it does not move anymore. The output from yarpinterface as follows:

🔘 Click to expand

C:\robotology\eth-boards-setups\single-ETH-ems4-1-motor-test-vislab>yarprobotinterface
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-ems4-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-ems4-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] Preprocessor complete in:  0.0074282 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.1.3.104:10002/
[INFO] startup phase starting...
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  10.1.3.104:12345
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[WARNING] in EthReceiver::config() the config socket has queue size =  1048576 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG] eth::parser::print(boardData) for BOARD knee-eb10-j1
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.1.3.11
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  knee-eb10-j1
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.1.3.11 (knee-eb10-j1) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.1.3.11
[WARNING] embObjMC BOARD  knee-eb10-j1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] embObjMC BOARD  knee-eb10-j1 :fromConfig() detected that IMPEDANCE parameters section is found
[INFO] embObjMC BOARD  knee-eb10-j1 IMPEDANCE section: parameters successfully loaded
[WARNING] AutoCalibration parameter not found for board knee-eb10-j1 in bottle "2FOC" (Autocalibration 0) (Verbose 1) (HasHallSensor 0) (HasTempSensor 0) (HasRotorEncoder 1) (HasRotorEncoderIndex 0) (HasSpeedEncoder 0) (RotorIndexOffset 0) (MotorPoles 2)
[WARNING] In  knee-eb10-j1  there isn't 2FOC.AutoCalibration filed. For default it is disabled
[INFO]  from BOARD 10.1.3.11 (á5÷:├☺), src LOCAL, adr 0, time 1819s 879m 286u: (code 0x00000034, par16 0x0001 par64 0x000000000000003b) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .
[DEBUG] EthResource::verifyBoardPresence() found BOARD knee-eb10-j1 with IP 10.1.3.11 after 0.0026354 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD knee-eb10-j1 with IP 10.1.3.11
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD knee-eb10-j1 with IP 10.1.3.11 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD knee-eb10-j1 with IP 10.1.3.11 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD knee-eb10-j1 @ IP 10.1.3.11 of type ems4 with FW = ver 3.36 built on 2021 Jan 29 14:0
[DEBUG]  from BOARD 10.1.3.11 (á5÷:├☺), src LOCAL, adr 0, time 1819s 928m 184u: (code 0x05000015, par16 0x1000 par64 0x00000000000f000f) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[INFO]  from BOARD 10.1.3.11 (á5÷:├☺) @ 1819s 928m 350u: CAN discovery has started for 1 eobrd_foc boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 1.6 and application ver 5.2.220.
[INFO]  from BOARD 10.1.3.11 (á5÷:├☺) @ 1819s 928m 738u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 5.2.220 Search time was 0 ms
[INFO]  from BOARD 10.1.3.11 (á5÷:├☺) @ 1819s 928m 899u: CAN discovery is OK for 1 eobrd_foc boards with target can protocol ver 1.6 and application ver 5.2.220. Search time was 0 ms
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG]  from BOARD 10.1.3.11 (á5÷:├☺), src LOCAL, adr 0, time 1819s 929m 82u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .
[DEBUG]  from BOARD 10.1.3.11 (á5÷:├☺), src LOCAL, adr 0, time 1819s 968m 476u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID
[DEBUG]  from BOARD 10.1.3.11 (á5÷:├☺), src LOCAL, adr 0, time 1819s 968m 589u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID
[INFO] |yarp.dev.PolyDriver| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.controlboardwrapper2| Parameter networks use deprecated syntax
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee_one : no ROS initialization required
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee_one  initting YARP initialization
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/rpc:i active at tcp://10.1.3.104:10003/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/command:i active at tcp://10.1.3.104:10004/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/state:o active at tcp://10.1.3.104:10005/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee_one/stateExt:o active at tcp://10.1.3.104:10006/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] knee-one-mc_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[DEBUG] knee-one-calibrator starting calibration of device knee-one-mc_wrapper
[INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO] Knee_one_Calibrator : starting calibration
[DEBUG] Knee_one_Calibrator : Joints calibration order:
[DEBUG] Knee_one_Calibrator : Calling calibrateJoint on joint  0 : type  5  with params:  2000 0 0 0 0
[DEBUG] Knee_one_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -1106.91
[ERROR] Knee_one_Calibrator : Timeout while calibrating  0
[ERROR] Knee_one_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 2 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 3 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 4 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 5 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 6 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 7 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 8 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 9 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 10 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 11 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 12 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 13 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 14 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 15 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 16 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[WARNING] embObjMotionControl::checkRemoteControlModeStatus() has done 17 attempts and will retry again after a 0.010000 sec delay. (BOARD knee-eb10-j1 IP 10.1.3.11, joint 0) -> current mode = cal, requested = idl
[ERROR] A 0.250000 sec timeout occured in embObjMotionControl::checkRemoteControlModeStatus(), BOARD knee-eb10-j1 IP 10.1.3.11, joint 0, current mode: cal, requested: idl
[ERROR] failure of embObjMotionControl::checkRemoteControlModeStatus(j=0, targetmode=idl) for BOARD knee-eb10-j1 IP 10.1.3.11 after 17 attempts and 0.262391 seconds
[ERROR] In embObjMotionControl::setControlModeRaw(j= 0 , mode= idl ) for  BOARD knee-eb10-j1 (IP 10.1.3.11)   has failed checkRemoteControlModeStatus()
[DEBUG] knee-one-calibrator finished calibration of device knee-one-mc_wrapper

1 reply

pattacini Apr 30, 2021
Maintainer

Hi @wevmacedo,

I would really encourage you to use the PR for further commenting on this as its dashboard is meant for the collaborative review.
Plus, this space is more for discussions rather than tracking issues and we have also 2 threads about the same argument duplicating the info.

Provide feedback

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Robotology

Calibration type 5 - motor contolled using ems4 and 2foc #500

wevmacedo Mar 31, 2021

Replies: 3 comments · 5 replies

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pattacini
Apr 8, 2021
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Apr 28, 2021

wevmacedo
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pattacini Apr 30, 2021
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