{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/663","repository_url":"https://api.github.com/repos/robotology/icub-support","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/663/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/663/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/663/events","html_url":"https://github.com/robotology/icub-support/issues/663","id":328161036,"node_id":"MDU6SXNzdWUzMjgxNjEwMzY=","number":663,"title":"Torso smoke (again)","user":{"login":"Tobias-Fischer","id":5497832,"node_id":"MDQ6VXNlcjU0OTc4MzI=","avatar_url":"https://avatars0.githubusercontent.com/u/5497832?v=4","gravatar_id":"","url":"https://api.github.com/users/Tobias-Fischer","html_url":"https://github.com/Tobias-Fischer","followers_url":"https://api.github.com/users/Tobias-Fischer/followers","following_url":"https://api.github.com/users/Tobias-Fischer/following{/other_user}","gists_url":"https://api.github.com/users/Tobias-Fischer/gists{/gist_id}","starred_url":"https://api.github.com/users/Tobias-Fischer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tobias-Fischer/subscriptions","organizations_url":"https://api.github.com/users/Tobias-Fischer/orgs","repos_url":"https://api.github.com/users/Tobias-Fischer/repos","events_url":"https://api.github.com/users/Tobias-Fischer/events{/privacy}","received_events_url":"https://api.github.com/users/Tobias-Fischer/received_events","type":"User","site_admin":false},"labels":[{"id":223644778,"node_id":"MDU6TGFiZWwyMjM2NDQ3Nzg=","url":"https://api.github.com/repos/robotology/icub-support/labels/iCubLondon01","name":"iCubLondon01","color":"00007F","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":13,"created_at":"2018-05-31T14:25:42Z","updated_at":"2018-08-07T11:45:58Z","closed_at":null,"author_association":"MEMBER","body":"Hi @robotology/icub-support-team,\r\nWe've got some issues with our torso. When we played around with `yarpmotorgui`, the color within the `yarpmotorgui` changed to orange(ish). Then we looked at the robot and realized that there was some smoke coming from the torso area. Also, the motors seemed disabled and the robot was slowly falling forwards.\r\n\r\nWe pressed the red button and then shut down the robot, and tried to find the detailed position of the smoke. The heat plate where the BLP / BLL of the torso are attached was really hot. We also saw some burn marks on one of the boards (the board is brown-ish where the white marking is, see red circle):\r\n![20180531_145406](https://user-images.githubusercontent.com/5497832/40788514-2cb4153c-64e8-11e8-9797-fc25210d68f6.jpg)\r\n\r\n\r\nWe also realized that the middle motor of the torso was really hot, but could not see any damage (not the motor with the serial number of the robot, but the motor located centrally of the robot):\r\n![20180531_145317](https://user-images.githubusercontent.com/5497832/40787715-32882b4e-64e6-11e8-89f5-55a52f1c12ff.jpg)\r\n\r\nAs discussed on Skype, here is also two pictures of the transistors. We cannot see any damage there:\r\n![20180531_151358](https://user-images.githubusercontent.com/5497832/40787795-646dffbc-64e6-11e8-852a-93dccbdc6f1e.jpg)\r\n![20180531_151350](https://user-images.githubusercontent.com/5497832/40787802-66f94c1e-64e6-11e8-8f57-827b283cc8f3.jpg)\r\n\r\nThis problem might be related to https://github.com/robotology/icub-support/issues/61 from a few years ago, where we also burned a motor board (however this time the damage doesn't quite look as bad). Another related issue is https://github.com/robotology/icub-support/issues/216 which describes a problem where the torso only worked for a limited amount of time, then we shut down the robot for a while, turn it back on and it worked again.\r\n\r\nVia Skype, you mentioned that it might be related to some shorts somewhere ..\r\n\r\nPlease let us know how to proceed.\r\n\r\nBest, Tobi\r\n\r\nUpdate:\r\nThere is also some yellow stuff near one of the motors (it's not fully solid) - not sure whether that's normal:\r\n![20180531_153829](https://user-images.githubusercontent.com/5497832/40788901-096e97fe-64e9-11e8-8931-35559846c076.jpg)\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/icub-support/issues/comments/411028607","html_url":"https://github.com/robotology/icub-support/issues/663#issuecomment-411028607","issue_url":"https://api.github.com/repos/robotology/icub-support/issues/663","id":411028607,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMTAyODYwNw==","user":{"login":"Tobias-Fischer","id":5497832,"node_id":"MDQ6VXNlcjU0OTc4MzI=","avatar_url":"https://avatars0.githubusercontent.com/u/5497832?v=4","gravatar_id":"","url":"https://api.github.com/users/Tobias-Fischer","html_url":"https://github.com/Tobias-Fischer","followers_url":"https://api.github.com/users/Tobias-Fischer/followers","following_url":"https://api.github.com/users/Tobias-Fischer/following{/other_user}","gists_url":"https://api.github.com/users/Tobias-Fischer/gists{/gist_id}","starred_url":"https://api.github.com/users/Tobias-Fischer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tobias-Fischer/subscriptions","organizations_url":"https://api.github.com/users/Tobias-Fischer/orgs","repos_url":"https://api.github.com/users/Tobias-Fischer/repos","events_url":"https://api.github.com/users/Tobias-Fischer/events{/privacy}","received_events_url":"https://api.github.com/users/Tobias-Fischer/received_events","type":"User","site_admin":false},"created_at":"2018-08-07T11:45:58Z","updated_at":"2018-08-07T11:45:58Z","author_association":"MEMBER","body":"Hi @julijenv,\r\nWe replaced the motor board, and tried to run the robot. However, `yarprobotinterface` reported some problems. We had a closer look, and found that one of the cables got damaged.\r\n![whatsapp image 2018-08-07 at 12 40 37 pm](https://user-images.githubusercontent.com/5497832/43774046-acbd8362-9a3f-11e8-827d-e2a06107fccf.jpeg)\r\n\r\nWhen trying to re-crimp the cable, the small black wire broke off, and now the cable is unusable. Is the part an encoder? Could we order a new one, with all the cables properly attached?\r\n\r\nThanks a lot,\r\nTobi\r\n"}}
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