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synapticon / ros_ethercat_igh

EtherCAT ROS support based on IgH Master and Motorcortex
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control multi-axis servo drive #7

Open wx245224736 opened 3 years ago

wx245224736 commented 3 years ago

Can it control multi-axis servo drive? If it can? How do I modify pdo.xml and topology.xml? please!!!

wx245224736 commented 3 years ago

I use ros-igh to control four-axis servo drive, but I only can control the first axis of four-axis servo drive, I do not know how to modify the pdo.xml and topology.xml to control four-axis servo drive, I hope someone can see it and help me. Thanks very much!

vtretyakov commented 3 years ago

@wx245224736 the demo application and the README file explain how to run a dual-axis application. It should be then possible in the same way to extend the application to more nodes in your ethercat topology. Here you find the information how to generate the topology.xml. Regarding the pdo.xml, you may refer to the documentation of the drives you are using to find a proper object dictionary mapping and update the pdo.xml maintaining the current syntax. The application is vendor-agnostic but the current state in the repository may be a bit outdated also from Synapticon's products. EtherLab Igh command tools have options to retrieve the current PDO and SDO mappings from the drives as well.

wx245224736 commented 3 years ago

@vtretyakov Thank you very much for your reply. I have learned to control a servo drive that contains one axis, which I am able to control a motor. However, sometimes a servo drive contains four axes, which can drive four motors. When I need to control four axes of a servo drive, I didn't know how to modify pdo.xml and topology.xml.