iCubAnkara01_resurrection

The diary to register all my steps to give a second chance in life to the iCub residing in ROMER @ METU, Ankara.

The HitchHiker's Guideline to the iCub so far

Quick Recap

• iCub at hand is 1.x, whereas the most recent is iCub 3. So, the documentation is not valid anymore for iCub 1.x. GitHub issues should be used for questions to IIT.
• Power settings are obtained from IIT through an email and is as follows.
  • xantrex XFR 35-35: 12-12.5V, 15A
  • xantrex XFR 60-46: 40V, 20A
• xantrex XFR 60-46 had a trouble providing output, now it is fixed.
• Powering the motors causes S/D of power supply. This is the latest issue that I'm dealing with. ICubTech came to rescue here.

About

The list of devices

• iCub 1.x
• iCub Laptop: DELL Latitude E4300 (username: icub password: icub)
• Power Supplies:
  • xantrex XFR 35-35: max 35V 35A
  • xantrex XFR 60-46: max 60V 46A

The connection of the overall system can be seen below.

The connection diagram

Powering the iCub

The power supplies should set to the following values BEFORE connecting the main cord of iCub.

• xantrex XFR 35-35: 12-12.5V, 15A
• xantrex XFR 60-46: 40V, 20A

The user's manuel for the power supplies:

• xantrex XFR 35-35 User's Manual
• xantrex XFR 60-46 User's Manual

Here is the video of how to set OVP values:

Reviving the iCub - Step2.1: Setting Power Supplies

Here is the video of the issue:

Reviving the iCub - Step2.2: Powering the Robot

Log

Day10

• PS trouble solved! Movıng on to yarp and related stuff.
• Started writing a user's manual.
• 01.29.24

Day9

• Replied on the issue. Let's hope for the best!🤞

Day8

• Uploading the video to show the powering issue. Since the OVP does not turn on before S/D, maybe the issue is related to the power supply? It would be much better.
• 11.17.23

Day7

• Put QR codes of the last links for log and the issue😿

Day6

• Starting a discussion at iCub Tech like this one. iCub's nickname convention is iCub<City><Num>, so its nickname is iCubAnkara01.
• Started an issue here for the motors turning on causes shutting down of the power supply. Waiting for the reply 🤞
• 11.2.23

Day5

• Started writing the guideline.

• S/D LED does not turn off and I think this is a problem, as the power supply wont be able to provide power to the system when S/D is on. Decided to make Functional Tests for Power Supply stated in the xantrex XFR 60-46 User's Manual, page 43. Functional Tests are

  • Power-on Check: ✔️

  • Voltage Mode Operation Check: ❌ Turning the knobs, wont increase the voltage nor amps.

  • Current Mode Operation Check:

  • Front Panel Function Checks: ❌ The following won't happen for our power supply. The S/D Led just dont turn off when STANDBY Switch is its OUT position.

    The front panel check fails because STANDBY Switch does not affect S/D Led

    Also, the following(loading the power) is not possible either, so the robot won't get the power.

    Supplying the power to the robot fails because STANDBY Switch does not affect S/D Led

• Due to the above problems, I am checking User Diagnostics.

  User Diagnostics at page 72, directing to the page 63

• Checking page 63+64 to figure out why S/D won't turn off and how to turn off wrongly-set S/D function.

  S/D Function at page 63

• Decided to change Remote shutdown circuit logic because it is remotely set to S/D ON as I understand(even if nothing is connected and nothing causes S/D ON). I checked the SW1 switch configuration and realized it has been changed from the factory default. Factory default and other states for switches are as follows.

  SWITCH #	FACTORY DEFAULT	PREVIOUS	NOW
  SW1-1	UP	UP	UP
  SW1-2	UP	UP	UP
  SW1-3	DOWN	DOWN	DOWN
  SW1-4	DOWN	DOWN	DOWN
  SW1-5	DOWN	DOWN	DOWN
  SW1-6	DOWN	DOWN	DOWN
  SW1-7	UP	DOWN	UP
  SW1-8	DOWN	DOWN	DOWN

FACTORY DEFAULT	PREVIOUS	NOW

• I changed SW1-7 to ON and S/D Led problem solved!
• Repeating the functional tests:
  • Power-on Check: ✔️
  • Voltage Mode Operation Check: ✔️
  • Current Mode Operation Check: ✅
  • Front Panel Function Checks: ❌
• 11.1.23

Day4

• IIT replied my email. It is as follows.

The mail from IIT

• 10.30.23

Day3

• Turns out they had iCub Laptop! Received the laptop yesterday. YARP and all others are set up already, yay!

• Documentation specifies 1 power supply providing 40V 20A as seems below

  The power specs in docs

• But there are 2 power supplies with one of them providing max of 35V which is < 40V

  The power supplies at hand

• Time for guidance from iCub Tech!

• 10.26.23

Day2

• Checking installation page
• Turns out need to install robotology-superbuild
  • Turns out I need to install Cmake and YCM first. Check if you have cmake installed: bash cmake --version
  • YCM installing
  • Source installation
  • Turns out it just creates a file to be sourced. Append it to the .bashrc file by hitting:

    source /home/ebrub/robotology-superbuild/build/install/share/robotology-superbuild/setup.sh

  • To use the updated .bashrc in your terminal you should run the following command:

    source ~/.bashrc

  • It may also be necessary to update the cache of the dynamic linker:

    sudo ldconfig

  • (Check your installation)[https://icub-tech-iit.github.io/documentation/sw_installation/check_your_installation/]

    ...

Resistance is futile, I need a laptop with Ubuntu 22-.

• 10.25.23

Day1

• Cables checked, no cable lost. Though the connection scheme is different than the one in the documentation. The docs show 3 different cables(power+eth+fault) exiting iCub, but the iCub here has a single output.
• Cables and power sources are cleaned.
• Power sources are put on table thanks to Harika Hanim and Umut and Mehmet.
• 10.23.23

trial