Closed felix-bo-hu closed 5 years ago
Hi, There is a special ethercat protocol for elfin. You can ask the vendor for a document about the protocol. By the way, there is a binary ESI file in elfin_ethercat_driver/script for Fix ESI.
I'm trying to test the module example with a real hans module. But I'm getting the following error:
SOEM found and configured 1 slaves
Could not set EC_STATE_PRE_OP
terminate called after throwing an instance of 'elfin_ethercat_driver::EtherCatError'
what(): Could not initialize SOEM
I have fixed the ESI file of the motor with the following documentation. But the code is not able to change the state to PRE_OP.
Any thoughts?
Hi, @ahcorde
Your robot seems to have the version 2 of elfin EtherCAT slaves. Please update the elfin_robot package first and fix the ESI with elfin_motor_v2.esi. Then try elfin_ros_control_v2.launch instead of elfin_ros_control.launch.
I load this FIX and now I can control robot through ROS. But my robot dot work whit teach pendant. It said that Master start is Failed.
The Error is topological unmatched ENI file .....
Yes, you can't control the robot with ROS and teach pendant at the same time. Because the computer in the control box was disconnected from the robot when you connected the robot to ROS.
I returned Ethernet cable from the control box to etherCAT driver. Do you have some new version of .xml file that is compatible whit this elfin_motor_v2.esi file
If you've got one .xml file, it must be compatible with the elfin_motor_v2.esi file. If you haven't, please ask my colleague who sold you the robot. I only have the binary files.
Can you pleas send me the files that you have?
On Fri, Oct 26, 2018, 14:05 Cong Liu notifications@github.com wrote:
If you've got one .xml file, it must be compatible with the elfin_motor_v2.esi file. If you haven't, please ask my colleague who sold you the robot. I only have the binary files.
— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/hans-robot/elfin_robot/issues/5#issuecomment-433385587, or mute the thread https://github.com/notifications/unsubscribe-auth/AOedIsPF3DiYMyaZcXbOe0P0jeAhH67Wks5uovqWgaJpZM4TV25Q .
I mean the files that I have are already in this repository: elfin_motor.esi and elfin_motor_v2.esi.
Hello,
I noticed there were lots of definitions related with ethercat rx/txpdo. For example:
I want to know where are those definitions coming from? Because I couldn't find any ESI file of the slave.