Example for generic cia402 drive plugin

[zulhafiz-zulkifli]

Hi, I am trying to implement the ethercat_generic_cia402_drive plugin on Omron servo drives as position controller.

However I am not sure how to load the drive configuration file as in the test codes. It will be great to have some examples on the generic plugins. Thank you.

[mcbed]

Hi, documentation is coming soon. In the meantime, here is an exemple for the Maxon drive :

• You should load the generic driver in the urdf:

  <ros2_control name="ec_single_axis" type="system">
    <hardware>
      <plugin>ethercat_driver/EthercatDriver</plugin>
      <param name="master_id">0</param>
      <param name="control_frequency">100</param>
    </hardware>
  
   <joint name="joint_2">
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
      <command_interface name="position"/>
      <command_interface name="reset_fault"/>
      <ec_module name="MAXON">
        <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
        <param name="alias">xx</param>
        <param name="position">xx</param>
        <param name="mode_of_operation">8</param>
        <param name="slave_config">/path/to/maxon.yaml</param>
      </ec_module>
    </joint>
  </ros2_control>

• Configure it using the slave_config file :

  # Configuration file for Maxon EPOS3 drive
  vendor_id: 0x000000fb
  product_id: 0x64400000
  assign_activate: 0x0300  # DC Synch register
  auto_fault_reset: false  # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
  sdo:  # sdo data to be transferred at drive startup
  - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
  - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
  rpdo:  # RxPDO = receive PDO Mapping
  - index: 0x1603
  channels:
    - {index: 0x6040, sub_index: 0, type: uint16, default: 0}  # Control word
    - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan}  # Target position
    - {index: 0x60ff, sub_index: 0, type: int32, default: 0}  # Target velocity
    - {index: 0x6071, sub_index: 0, type: int16, default: 0}  # Target torque
    - {index: 0x60b0, sub_index: 0, type: int32, default: 0}  # Offset position
    - {index: 0x60b1, sub_index: 0, type: int32, default: 0}  # Offset velocity
    - {index: 0x60b2, sub_index: 0, type: int16, default: 0}  # Offset torque
    - {index: 0x6060, sub_index: 0, type: int8, default: 8}  # Mode of operation
    - {index: 0x2078, sub_index: 1, type: uint16, default: 0}  # Digital Output Functionalities
    - {index: 0x60b8, sub_index: 0, type: uint16, default: 0}  # Touch Probe Function
  tpdo:  # TxPDO = transmit PDO Mapping
  - index: 0x1a03
  channels:
    - {index: 0x6041, sub_index: 0, type: uint16}  # Status word
    - {index: 0x6064, sub_index: 0, type: int32, state_interface: position}  # Position actual value
    - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity}  # Velocity actual value
    - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}  # Torque actual value
    - {index: 0x6061, sub_index: 0, type: int8}  # Mode of operation display
    - {index: 0x2071, sub_index: 1, type: int16}  # Digital Input Functionalities State
    - {index: 0x60b9, sub_index: 0, type: int16}  # Touch Probe Status
    - {index: 0x60ba, sub_index: 0, type: int32}  # Touch Probe Position 1 Positive Value
    - {index: 0x60bb, sub_index: 0, type: int32}  # Touch Probe Position 1 Negative Value