Diagnosis effect¶

What it does¶

Diagnosis effect is a reflex designed to protect the robot and the user in case of a malfunctioning Joint, Actuator or Sensor.

It allows the robot to react appropriately according to the issues and errors raised by ALDiagnosis and ALBodyTemperature modules.

Depending on the Level of failure severity, the Diagnosis effect reflex may:

For example:

if one of the Head joints has a diagnosis error, the Stiffness control on the joints of the head chain is disabled and it will not be possible to reactivate it.
if the inertial sensor does not answer, the Fall manager reflex is disabled.

The diagnosis effect on the robot, depends on the device Level of failure severity, if an actuator or a sensor is detected as unusable.

Severity	Diagnosis effect on the robot
NEGLIGIBLE	No effect on the robot.
SERIOUS	The Stiffness control on the Chains that includes the joint or actuator in failure is disabled and it will not be possible to reactivate it.
CRITICAL	The robot goes to rest and refuses to wake up. So, the robot will not be usable.

Severity	Diagnosis effect on the robot
NEGLIGIBLE	No effect on the robot
SERIOUS	The reflex based on this sensor is not possible anymore so the Fall manager and the Smart Stiffness will be disabled.
CRITICAL	The robot goes to rest and refuses to wake up. So, the robot will not be usable.

By default, the motion reflex based on the diagnosis is active on the robot.

You can simply disable the Diagnosis effect in motion by calling the ALMotion API.