Forums Niryo One Troubleshooting Niryo One stops unexpectedly during sequence Reply To: Niryo One stops unexpectedly during sequence

Lkno0705
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I’m currently having the same or a very similar issue with the Niryo one with the vacuum pump attached. The Robots runs the sequence over and over again, then randomly stops at some point. I can’t find a pattern in these Sequence abortions but the ROS-Log tells me that at this point the Robot has a “CAN connection problem with motor 2”. Here is the excerpt from the ROS-Log:

[2019-03-09 13:54:41] Arm commander – Got a goal id : /move_group-83-1552136081.548645893
[2019-03-09 13:54:42] CAN connection problem with motor 2, hw fail counter : 0
[2019-03-09 13:54:42] CAN connection problem with motor 2, hw fail counter : 0
[2019-03-09 13:54:43] CAN connection problem with motor 2, hw fail counter : 0
[2019-03-09 13:54:43] CAN connection problem with motor 2, hw fail counter : 1
[2019-03-09 13:54:44] CAN connection problem with motor 2, hw fail counter : 2
[2019-03-09 13:54:44] CAN connection problem with motor 2, hw fail counter : 3
[2019-03-09 13:54:44] DXL : Start hardware control loop
[2019-03-09 13:54:44] Stop Can hw control
[2019-03-09 13:54:44] CanComm : Stop hardware control loop
[2019-03-09 13:54:44] Received trajectory RESULT
[2019-03-09 13:54:44] Arm commander – Result : 4
[2019-03-09 13:54:44] SEND POSITION HOLD MODE TO CONTROLLER
[2019-03-09 13:54:44] Controller failed during execution : Goal has been aborted

Niryo one and every Motor should have the newest Firmware Version.
what can I do to fix or avoid this problem?

Also if I take a look at the Hardware Status Panel in Niryo One Studio, the Vacuum pump has the Error Code 1. The strange thing about that is, that every tool has this Error code (Vacuum pump, Gripper 2 and Gripper 1, Gripper 1 broke).
Any suggestions?

Thank you!