Stepper Type Mismatch on Lift Motor

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1

Hi all,

I’m encountering an issue while running the system check on my Stretch 3 robot from Hello Robot Inc. Here’s the relevant output:

stretch_system_check.py  
For use with S T R E T C H (R) from Hello Robot Inc.  
---------------------------------------------------------------------  

Model = Stretch 3  
Tool = DexWrist 3 w/ Gripper  
Serial Number = stretch-se3-3045  

---- Checking Hardware ----  
[Pass] Comms are ready  
[Fail] Actuators not ready (stepper type mismatch on lift motor)  
[Pass] Sensors are ready  
[Pass] Battery voltage is 13.6 V  

---- Checking Software ----  
[Pass] Ubuntu 22.04 is ready  
[Pass] All APT pkgs are setup correctly  
[Pass] Firmware is up-to-date  
[Pass] Python pkgs are up-to-date  
[Pass] ROS2 Humble is ready

I also ran the firmware updater for the lift motor to verify the installed firmware, and here’s the result:

REx_firmware_updater.py --lift --current  
Collecting information...  
######################################## Currently Installed Firmware ########################################  
------------ HELLO-MOTOR-LIFT ------------  
Installed Firmware: Stepper.v0.7.6p5  
Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5  
Installed protocol p5 : VALID

Any advice or guidance would be greatly appreciated!

Thanks in advance,
Allen

2

Hi @allen, the error typically appears when there’s a mix up with how the motor appears to the onboard computer. Would you try the stretch_lift_jog.py CLI and see if the lift moves up/down as expected?

3

Hi @bshah ! Thanks for your response, I tried stretch_lift_jog.py and it seems like the lift is moving up/down as expected. Are there any steps or commands you recommend me to test?

4

Great, then you can run REx_stepper_type.py --write --lift and this should resolve the error you’re seeing when you use the system check CLI. This command tells the lift microcontroller that its type is “lift”.

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5

Hi @bshah, the command resolved the error. Thanks so much!

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