iCubGenova09 (iRonCub3) S/N:000 – Right shoulder yaw motor not moving

[gabrielenava]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

the right shoulder yaw motor is not moving when a rotation is commanded. After some time, it goes in hardware fault with i2t limit reached error. No other messages are provided.

Detailed context

We checked the encoder readings and look correct. The problem seems to be related to the motor which is not moving at all.

cc @DanielePucci

Additional context

No response

How does it affect you?

No response

[gabrielenava]

in the end, after restarting the robot a few times the arm motor moved and we were able to perform our tests. I think the problem is then not the motor, but most likely the 2foc board or some cable that is damaged and might stop working from time to time.

Would it be possible to open the arm and check the cables and board anyways? The robot is now in AMI area