{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/91","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/91/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/91/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/91/events","html_url":"https://github.com/robotology/icub-support/issues/91","id":112967030,"number":91,"title":"Torso fault","user":{"login":"kt10aan","id":1415279,"avatar_url":"https://avatars.githubusercontent.com/u/1415279?v=3","gravatar_id":"","url":"https://api.github.com/users/kt10aan","html_url":"https://github.com/kt10aan","followers_url":"https://api.github.com/users/kt10aan/followers","following_url":"https://api.github.com/users/kt10aan/following{/other_user}","gists_url":"https://api.github.com/users/kt10aan/gists{/gist_id}","starred_url":"https://api.github.com/users/kt10aan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kt10aan/subscriptions","organizations_url":"https://api.github.com/users/kt10aan/orgs","repos_url":"https://api.github.com/users/kt10aan/repos","events_url":"https://api.github.com/users/kt10aan/events{/privacy}","received_events_url":"https://api.github.com/users/kt10aan/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/icub-support/labels/iCubOsaka01","name":"iCubOsaka01","color":"009800"}],"state":"open","locked":false,"assignee":{"login":"julijenv","id":7140395,"avatar_url":"https://avatars.githubusercontent.com/u/7140395?v=3","gravatar_id":"","url":"https://api.github.com/users/julijenv","html_url":"https://github.com/julijenv","followers_url":"https://api.github.com/users/julijenv/followers","following_url":"https://api.github.com/users/julijenv/following{/other_user}","gists_url":"https://api.github.com/users/julijenv/gists{/gist_id}","starred_url":"https://api.github.com/users/julijenv/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/julijenv/subscriptions","organizations_url":"https://api.github.com/users/julijenv/orgs","repos_url":"https://api.github.com/users/julijenv/repos","events_url":"https://api.github.com/users/julijenv/events{/privacy}","received_events_url":"https://api.github.com/users/julijenv/received_events","type":"User","site_admin":false},"milestone":null,"comments":20,"created_at":"2015-10-23T07:20:49Z","updated_at":"2016-01-19T06:39:33Z","closed_at":null,"body":"Hi,\r\n\r\nWe are having troubles with the torso of our iCub. Everything started two weeks ago, when the robot was operational (but not moving much) and then suddenly it kind of \"fainted\". I.e. It fell forward (across its pitch axis) but not so abruptly like when the red button is pressed, a bit slower.\r\nDuring reboot, the CAN ID was changed. Fixing that fixed the issue. A week after that, the same thing happened again, and again the robot was on for an hour or so when it happened. This time, it took a CAN ID change and a couple of reboots to get it working again.\r\n\r\nThird time today and the CAN ID change and the rebooting does not help. Upon starting robotInterface I get the message ``[ERROR]sharedcan [0] board 6 ABS ENCODER ERROR AXIS 0``. The robot starts but the pitch axis of the torso is not functioning. \r\n\r\nAlso, the worst was not used much (except the startup phase) the past months. In fact, it was not used at all the past 2 months.\r\n\r\nI hope that it is due to some loose connection to the encoder somewhere (in that case, I would be grateful for some instructions on how to check them) and that a spare is not needed :)"},"comment":{"url":"https://api.github.com/repos/robotology/icub-support/issues/comments/172755655","html_url":"https://github.com/robotology/icub-support/issues/91#issuecomment-172755655","issue_url":"https://api.github.com/repos/robotology/icub-support/issues/91","id":172755655,"user":{"login":"kt10aan","id":1415279,"avatar_url":"https://avatars.githubusercontent.com/u/1415279?v=3","gravatar_id":"","url":"https://api.github.com/users/kt10aan","html_url":"https://github.com/kt10aan","followers_url":"https://api.github.com/users/kt10aan/followers","following_url":"https://api.github.com/users/kt10aan/following{/other_user}","gists_url":"https://api.github.com/users/kt10aan/gists{/gist_id}","starred_url":"https://api.github.com/users/kt10aan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kt10aan/subscriptions","organizations_url":"https://api.github.com/users/kt10aan/orgs","repos_url":"https://api.github.com/users/kt10aan/repos","events_url":"https://api.github.com/users/kt10aan/events{/privacy}","received_events_url":"https://api.github.com/users/kt10aan/received_events","type":"User","site_admin":false},"created_at":"2016-01-19T06:39:33Z","updated_at":"2016-01-19T06:39:33Z","body":"Ok, after putting everything back and everything working fine (and no screws were forgotten!), the torso issue, the ame one with the ABS ENCCODER AXIS 0 on sharedcan[0] appeared. When I opened the robot I just pushed the connector of the encoder, as per the instructions of @julijenv in the photos above. However, it seems that recrimping the connector is needed,\r\n\r\nMy question is: What is the most painless and fast way to reach in the connector, which is in the middle of the robot`s waist, and very difficulty to reach (and also to put it back)\r\n\r\nWhich parts should I takeout to have the easier and faster access?"}}