{"action":"closed","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/685","repository_url":"https://api.github.com/repos/robotology/icub-support","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/685/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/685/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/685/events","html_url":"https://github.com/robotology/icub-support/issues/685","id":339533205,"node_id":"MDU6SXNzdWUzMzk1MzMyMDU=","number":685,"title":"Missing MTBs on EMS10","user":{"login":"hu-yue","id":7060968,"node_id":"MDQ6VXNlcjcwNjA5Njg=","avatar_url":"https://avatars1.githubusercontent.com/u/7060968?v=4","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"labels":[{"id":483426990,"node_id":"MDU6TGFiZWw0ODM0MjY5OTA=","url":"https://api.github.com/repos/robotology/icub-support/labels/iCubGenova04%20(green)","name":"iCubGenova04 (green)","color":"0e8a16","default":false}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-07-09T17:05:39Z","updated_at":"2018-07-10T07:53:40Z","closed_at":"2018-07-10T07:53:40Z","author_association":"NONE","body":"<!--\r\nPlease, read carefully the support guidelines linked at the top of this page.\r\n\r\nIn particular, use this issue tracking system only for robot maintenance by always indicating the name of your robot: either using labels if you're already a contributor, as per standard, or by specifying it while detailing the issue.\r\n\r\nFill in the following two sections\r\n-->\r\n\r\n### Description of the failure\r\nThe `yarprobotinterface` shows continuously errors on the ems10:\r\n```\r\n2775\t6,529087\tERROR\t from BOARD 10.0.1.10 (left_leg-eb10-skin), src CAN2, adr 0, time 82s 519m 107u: (code 0x00000019, par16 0x0301 par64 0x0000000000000000) -> SYS: EOtheCANservice could not tx frames on CAN bus. In par16 there is: on msb the size of txfifo, on lsb a code. + .\r\n2776\t6,529122\tWARNING\t from BOARD 10.0.1.10 (left_leg-eb10-skin), src LOCAL, adr 0, time 82s 519m 255u: (code 0x0000000d, par16 0x0371 par64 0x0300037102e8015e) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n```\r\n\r\n### Detailed conditions and logs of the failure\r\nAfter the left lower leg skin has been repaired as in https://github.com/robotology/icub-support/issues/683, we detached the skin soles for some walking experiments.\r\nAfter detaching them we got a lot of errors on board 10, see log: \r\n[log_icub-head_yarprobotinterface_28691_skin10.txt](https://github.com/robotology/icub-support/files/2177226/log_icub-head_yarprobotinterface_28691_skin10.txt)\r\n\r\nAt first we thought about a firmware mismatch, as on the ems10 there was a different version, we updated the firmware but the errors were still there.\r\nFrom the firmware updater we then saw that there are some missing MTBs (compared with ems 11):\r\n![skin](https://user-images.githubusercontent.com/7060968/42464986-09f6055a-83ab-11e8-8c6f-fef6a0474987.png)\r\n"}}
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