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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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SLS is always ON #71

Closed suguruhamada1003910 closed 1 year ago

suguruhamada1003910 commented 1 year ago

I'm using SWD Starter Kit. When I control it by joy controller, SLS is always ON and speed is limited. If I check /safety topic, SLS value is always True.

I'm looking into the cause of this problem and I would like to judge whether this is hardware problem or not. Do you have any idea?

ez-Support commented 1 year ago

You can have a look on the remote.py the line SCW SAFEIN_1.

The first two values, represent the value of the STO input pair. The next 2 values, represent the value of the SDI input pair. The next 2 values, represent the value of the SLS input pair.

False value means 0V True value means 24V

ez-Support commented 1 year ago

Example: image

In that case, STO pair is True (Yellow) --> No STO SDI pair is False (Green) --> SDI Enabled SLS pair is False (Blue) --> SLS Enabled

suguruhamada1003910 commented 1 year ago

Thank you for great support. I will check my SWDs.

suguruhamada1003910 commented 1 year ago

Current value is below.

suguru@C-Latitude-3420-300:/opt/ezw/usr/sbin$ python3 remote.py swd_left
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_left ..................................................................... [OK]
Node ID              : 0x4 .......................................................................... [OK]
RT activated         : True ......................................................................... [OK]
CAN device           : can0 ......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 22069SC005A1 ................................................................. [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.3 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT state on error   : 1 ............................................................................ [OK]
NMT State            : PREOP  ....................................................................... [OK]
PDS State            : NOT_READY_TO_SWITCH_ON  ...................................................... [OK]
NbError              : 0 ............................................................................ [OK]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, True, True, True, True, True, True  .............................. [OK]
Peripheral           : True, True, True, False, True, True  ......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: True, position_polarity: True ............................. [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1 ............................................................................ [OK]
OdometryValue        : 0 ............................................................................ [OK]
<COM> Connect NodeID = i Disconnect = d Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Mode> local = w remote = z
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
suguru@C-Latitude-3420-300:/opt/ezw/usr/sbin$ python3 remote.py swd_right
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_right .................................................................... [OK]
Node ID              : 0x5 .......................................................................... [OK]
RT activated         : True ......................................................................... [OK]
CAN device           : can0 ......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 22069SC013A1 ................................................................. [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.3 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT state on error   : 1 ............................................................................ [OK]
NMT State            : PREOP  ....................................................................... [OK]
PDS State            : NOT_READY_TO_SWITCH_ON  ...................................................... [OK]
NbError              : 0 ............................................................................ [OK]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, False, False, False, False, True, True  .......................... [OK]
Peripheral           : True, True, True, False, True, True  ......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1 ............................................................................ [OK]
OdometryValue        : 0 ............................................................................ [OK]
<COM> Connect NodeID = i Disconnect = d Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Mode> local = w remote = z
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
suguruhamada1003910 commented 1 year ago

@ez-Support

Could you tell me if there are any strange point in my value? I noticed that one value of Periferal is False.

suguruhamada1003910 commented 1 year ago

After executing launch command, all values of Periferal is True. But SLS is always ON. I also uploaded candump file.

suguru@C-Latitude-3420-300:/opt/ezw/usr/sbin$ python3 remote.py swd_left
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_left ..................................................................... [OK]
Node ID              : 0x4 .......................................................................... [OK]
RT activated         : True ......................................................................... [OK]
CAN device           : can0 ......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 22069SC005A1 ................................................................. [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.3 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT state on error   : 1 ............................................................................ [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : OPERATION_ENABLED  ........................................................... [OK]
NbError              : 0 ............................................................................ [OK]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, True, True, True, True, True, True  .............................. [OK]
Peripheral           : True, True, True, True, True, True  .......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: True, position_polarity: True ............................. [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1 ............................................................................ [OK]
OdometryValue        : 0 ............................................................................ [OK]
<COM> Connect NodeID = i Disconnect = d Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Mode> local = w remote = z
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
suguru@C-Latitude-3420-300:/opt/ezw/usr/sbin$ python3 remote.py swd_right
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_right .................................................................... [OK]
Node ID              : 0x5 .......................................................................... [OK]
RT activated         : True ......................................................................... [OK]
CAN device           : can0 ......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 22069SC013A1 ................................................................. [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 1.0.3 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT state on error   : 1 ............................................................................ [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : OPERATION_ENABLED  ........................................................... [OK]
NbError              : 0 ............................................................................ [OK]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, False, False, False, False, True, True  .......................... [OK]
Peripheral           : True, True, True, True, True, True  .......................................... [OK]
VelocityModeSW       : internal_limit_active: False ................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 1 ............................................................................ [OK]
OdometryValue        : 0 ............................................................................ [OK]
<COM> Connect NodeID = i Disconnect = d Restore param = j
<NMT> RESET_NODE = r Start all = m
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Mode> local = w remote = z
<Diagnostic> a
<EMCY> get full EMCY list = e, clear EMCY list = c
<SW> s
<quit> 0
---
header:
  stamp:
    sec: 1686789223
    nanosec: 998232128
  frame_id: base_link
safe_torque_off: false
safe_brake_control: false
safety_limited_speed: true
safe_direction_indication_forward: false
safe_direction_indication_backward: false
---

candump.txt

suguruhamada1003910 commented 1 year ago

I checked the manual and commissioning files on github. As a result, I think that OSSD3/4 (SLS) is input to left but the settings in commissioning files indicates OSSD3/4 is input to right. What do you think about it?

image

SE2L Settings

image

https://github.com/ezWheelSAS/swd-starter-kit-config/blob/main/commissioning/SafetyHub17pts/swd_left_4_commissioning.py#L21-L47

https://github.com/ezWheelSAS/swd-starter-kit-config/blob/main/commissioning/SafetyHub17pts/swd_right_5_commissioning.py#L53-L77

ez-Support commented 1 year ago

According to your hardware wiring, you should apply the commissioning 12pts: https://github.com/ezWheelSAS/swd-starter-kit-config/tree/main/commissioning/SafetyHub12pts

In that case, OSSDs / SafeInputs of the laser, are all connected to the left wheel.

suguruhamada1003910 commented 1 year ago

@ez-Support

I don't think so... I already checked the number of pins and Safety Hub. My starter kit is 17 pt type.

Actually, I already tried to execute commissioning with 12pt file. Then, SWD didn't run. And I changed commissioning files for 17 point files as below and executed commissioning, SWD Starter Kit runs properly.

https://github.com/HirokiShikazaki/swd-starter-kit-config/commit/3425d2a46bbf794635e8e06cf564334b4839c490

ez-Support commented 1 year ago

You are applying the same configuration as commissioning 12pts according to me

suguruhamada1003910 commented 1 year ago

@ez-Support

Yes. You are right. I think input for SLS is connected to left SWD with 12pt and 17pt. I think Commissioning file on Github should be the default settings. After I bought SWD Starter Kit, I didn't change anything. Therefore, Commissioning file on Github should be used for SWD Starter Kit without any changes.

I'm thinking there are wirings of two types for SWD Starter Kit 17pt type. Is there possibility?

ez-Support commented 1 year ago

Yes, it is possible that there was a confusion between the two types of wiring.

suguruhamada1003910 commented 1 year ago

Thank you for reply. I understand.

HirokiShikazaki commented 1 year ago

I researched "Safety Hub after July 2022" and "Safety Laser Scanner connector". I found that if Laser Scanner OSSDs are connected to the pins listed in the manual, all SDI and SLS are wired to the left motor. This does not make "OSSDs from the laser scanner are connected to both SWD Core" in the Figure 2 shown in the manual. Do I need to modify the wiring? safetyhub_17 commissioning_17pts

ez-Support commented 1 year ago

Hello,

The Figure 2 explains the type of commissioning that needs to be apply when all OSSDs are not connected to the left wheels. It is the case for instance using Sick nanoScan laser scanner, connected directly to the SafetyHub. In your case, the commissionning 12pts shoud be applied. OSSD1, 2,3 and 4 are connected to the SWD Left.