Possible FMS problems.

[Al Skierkiewicz]

Canon,
The issue you describe is usually attributed to one or more of the following problems in no particular order.
1. The cRio is bumping into robot frame or is attached to robot frame electrically.
2. Wire whisker is touching the opposite polarity on the power supply wiring at either the cRio end or the PD end.
3. Power wiring is not inserted into the connector properly, a tug on the wiring will show this problem.
4. Rare manufacturing defects have been observed on the main breaker. while the robot is thruned on and booted, trying lightly tapping the red reset button on the breaker. If the lights on the robot blink, replace the main breaker.
5. Improperly terminated battery wiring. Check everything from the battery to the PD. If it moves, it is intermittent.
6. An intermittent short exists in the branch wiring or you have a defective motor controller or motor that is showing a short in one direction. Try removing all breakers and reinserting one at a time to locate the offending branch.
7. If you are using multi motor transmissions, check that the motors are wired properly so that they are not running in opposite directions.
8. You have an intermittent power wiring to the DLink or you have not wired the power convertor to the dedicated +12 volt output on the PD.

When you have a shock intermittent, use a large screwdriver to tap the handle (or other insulated tool) on various parts of the robot until you find the sensitive area of the robot. You may find swarf in the cRio, PD or DSC or you may find improper wiring on the outputs of one of the cRio modules. If the condition only occurs when you are driving, the problem is in the drive train or the cRio to robot frame short.