search

ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
342 stars 273 forks source link

send position command in the PVT mode #383

Open jackstarred opened 4 years ago

jackstarred commented 4 years ago

I find that if we set the drive mode as the PVT mode, the ros canopen only sends the position command to the drive not including the velocity and segment time. Is it right?

mathias-luedtke commented 4 years ago

set the drive mode as the PVT mode

How do you set PVT mode? (I recall that I saw "PVT" in some manual, but forgot where..)

ros canopen only sends the position command to the drive not including the velocity and segment time. Is it right?

The default modes only support sending one command value at a time, only position, velocity or torque.

jackstarred commented 4 years ago

@ipa-mdl PVT mode is the IP(Interpolation position) mode, its example can be found at AMC_CommManual_CANopen.

I think the appropriate ros control implement for CANopen is the joint position-velocity hardware interface, not the joint position hardware interface.