gsalinas
commented
6 days ago Possibly one of the project maintainers can help answer your specific question about how to get polling mode working, but this caught my attention as I've successfully used Elmo motor controllers with this library by setting polling to false, so are you sure polling set to true is something you need? I ask because I notice the comment in your bus.yml file says:
polling: true # This allows for us to get values of position, velocity, and effort when set TrueThe way I get those values in my system is by including the following section in my bus.yml file:
tpdo: # TPDO needed statusword, actual velocity, actual position, mode of operation
1:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6041, sub_index: 0} # status word
- {index: 0x6061, sub_index: 0} # mode of operation display
2:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6064, sub_index: 0} # position actual value
- {index: 0x606c, sub_index: 0} # velocity actual position
and then the position and velocity are available as PDOs. You could find the index of the actual current / torque in the Elmo manual and include that as a PDO to get effort as well, I believe.
Aragya1642
Describe the bug I am trying to use the CiA 402 driver to be able to control a servomotor via an elmo motor controller. An issue I am encountering is that when I turn on polling mode, I am not able to move through the state machine of the servomotor as the polling mode constantly writes to the controlword which keeps it in an operation disabled mode. I was able to go through the source code for the driver and found two functions in the motor.cpp file. I am unsure how these are operating but I believe these functions are determining what parameters to poll and what to write to the controlword of the motor. If someone could explain what the functions are doing, it would be of massive help. Thanks!
Logs This is the CAN log and terminal output when I enable polling mode: Note: The last 8 messages in the log repeat as they are the polling messages
Setup:
Additional context This is my bus.yml file. When I set polling to false, my motor starts to spin but when I set it to true, the motor shaft does not spin.
These are the specific functions in the motor.cpp file that I believe control what is being polled.