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Home Forums Software e.DO is not initializing anymore

This topic contains 6 replies, has 3 voices, and was last updated by  zub zub 4 days, 10 hours ago.

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  • #6472

    zub zub
    Participant

    We purchased an e.DO a couple weeks ago and when it arrived it worked without problems. However since a few days e.DO cannot initialize anymore. The app hangs in the ‘Initialize’ state for a couple minutes and then gives back the error: “e.DO has not sent any status. Ensure e.DO is up and running.” We flashed a new SD card with the factory image and we can connect to the Wifi and the e.DO normally through its standard IP. The RaspberryPI seems to work as expected as we can log into it and confirm that ROS is running and sending the right messages on the right topics. We tried to analyze the CAN-Bus but did not receive any messages at any state. Did anyone experience similar problems and was able to solve it?

    #6478

    Stefan Profanter
    Participant

    We had some similar issues in the past that after some point the joint boards needed to be flashed again. Since we have two edos, we took the FW of one joint and flashed it (with a JTAG) to another board.

    To further debug, you can do the following, but make sure that you understand what you are doing!

    Disable automatic startup of the ROS stuff on the RasPI:

    mount -o remount,rw /
    systemctl disable k3.service
    systemctl status k3.service
    reboot
    

    Then you can manually run the ministarter and see all the output: $HOME/ministarter

    Probably one of the joints is not responding to the initialization command and thus the GUI gets a timeout.

    #6490

    zub zub
    Participant

    Thank you for your quick and helpful answer.
    We were able to further debug as you suggested. The output suggests that there is an issue with the USB-to-CAN converter inside the e.DO.
    The output
    [ INFO] [1535103145.474077809]: Opened /dev/ttyACM0
    is repeating all over again and we get a timeout for ALL joints. ACM0 is the port to the USB-to-CAN converter.

    [ INFO] [1535103277.584283487]: Opened /dev/ttyACM0
    [ INFO] [1535103279.585593851]: Opened /dev/ttyACM0
    [ INFO] [1535103280.964950986]: Timeout Ack status for joint 1: 1
    [ INFO] [1535103280.965337705]: Timeout Ack status for joint 2: 1
    [ INFO] [1535103280.965509788]: Timeout Ack status for joint 3: 1
    [ INFO] [1535103280.965648069]: Timeout Ack status for joint 4: 1
    [ INFO] [1535103280.965783590]: Timeout Ack status for joint 5: 1
    [ INFO] [1535103280.965917444]: Timeout Ack status for joint 6: 1
    [ERROR] [1535103280.966124528]: Joint Ack timeout
    [ INFO] [1535103280.966345205]: Current State is: INIT
    [ INFO] [1535103280.971874476]: Send PID Params: True
    [ INFO] [1535103280.977891767]: Send Brake Disengage : False
    [ INFO] [1535103281.586970309]: Opened /dev/ttyACM0
    [ INFO] [1535103283.589155881]: Opened /dev/ttyACM0
    [ INFO] [1535103285.591256401]: Opened /dev/ttyACM0

    Unfortunately we have neither the firmware nor a second e.DO at hand.

    • This reply was modified 2 weeks, 2 days ago by  zub zub.
    • This reply was modified 2 weeks, 2 days ago by  zub zub.
    #6495

    Stefan Profanter
    Participant

    Yeah, had the same issue before, after the firmware update failed and the USB-CAN board was not flashed correctly.

    What you can try as a last resort to reflash the firmware of the boards (similar to a firmware update). If you are lucky, the script is able to flash it. If not, you will need to contact Comau and ask for a replacement board.

    Here is the doc:
    https://edo.cloud/wp-content/uploads/2018/09/e.DO-SW-Loading-Rev2_20180918.pdf

    (Can be found here: https://edo.cloud/documents/)

    If you have an older version, you probably need to call ./uploadBridge.sh

    Otherwise you may also ask Comau for a newer Firmware to flash it to your e.DO.

    Good luck!

    #6498

    zub zub
    Participant

    Thanks Stefan!

    As a reference for others:
    We tried reflashing the USB-CAN board but were not able to because all communication to it breaks down at one point. We will ask Comau for a replacement board.

    #6504

    Comau
    Keymaster

    Hi Zub Zub,
    We hope that with the last call with our experts all the problems related to USB / CAN communication have been solved.

    If there are any problems or curiosities in the future, do not hesitate to contact us. 😉

    #6511

    zub zub
    Participant

    For reference:
    After contact with Comau they sent me the newest image of the e.DO firmware with which we were able to reflash the USB-CAN board and all the motor-driver boards. e.DO works now as expected again.

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