Show EOL distros: 

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

This implements the CANopen device profile for drives and motion control. CiA(r) 402

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

This implements the CANopen device profile for drives and motion control. CiA(r) 402

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

This implements the CANopen device profile for drives and motion control. CiA(r) 402

ros_canopen: can_msgs | canopen_402 | canopen_chain_node | canopen_master | canopen_motor_node | socketcan_bridge | socketcan_interface

Package Summary

This implements the CANopen device profile for drives and motion control. CiA(r) 402

Overview

This package contains the implementation of the CiA 402 DSP protocol. It just communicates via objects (canopen_master, no direct CAN communication is needed.

It runs the 402 state machine and per-mode state machines, if needed. It does not handle the read of actual positions, velocities, etc..

It recommended to map the control word (object 6040, 0x60400010), the status word (object 6041, 0x60410010) and the operation mode display (object 6061, 0x60610008) to PDOs.

Drive operation modes

All standardized drive modes are implemented, these modes can be substituted in sub classes and others can be added.

The following table lists all supported drive modes and their data objects. The objects used should be mapped to PDOs.

Name

ID

target object

RPDO mapping parameter

comments

Profiled Position

1

607A

0x607a0020

Velocity

2

6042

0x60420010

Profiled Velocity

3

60FF

0x60ff0020

Profiled Torque

4

6071

0x60710010

not yet tested

Interpolated Position

7

60C1sub1

0x60c10120

Cyclic Synchronous Position

8

607A

0x607a0020

not yet tested

Cyclic Synchronous Velocity

9

60FF

0x60ff0020

not yet tested

Cyclic Synchronous Torque

10

7071

0x60710010

not yet tested

The modes can be switched at run-time, the 402 state might be switched in order to switch the mode, if necessary.

Not all devices support all operation modes. The driver limits the set of available modes based on object 6502.

Homing

Homing is supported, but is not a available as drive mode. Instead it is performed at initialization if homing is supported and the homing method is not zero.

The implemented homing mode just triggers the execution of the selected homing method. Please refer to your device manual to get a list of supported methods. Currently the driver aborts the procedure if the homing was not performed successfully within 60 seconds.

Tested Devices

The driver was tested for the below listed devices. For each of them, the supported modes are checked.

PP: Profiled Position, VL: Velocity, PV: Profiled Velocity, PT: Profiled Torque, HM: Homing, IP: Interpolated Position, CSP: Cyclic Synchronous Position, CSV: Cyclic Synchronous Velocity, CST: Cyclic Synchronous Torque

(./) : works, (X) : does not work, - : unsupported, ? : unknown/not tested

SCHUNK

Device Name

PP

VL

PV

PT

HM

IP

CSP

CSV

CST

SCHUNK LWA4D

(./)

(./)

-

-

?

(./)

-

-

-

SCHUNK LWA4P

(./)

(./)

-

-

?

(./)

-

-

-

PG+ 70

(./)

(./)

-

-

(./)

(./)

-

-

-

PRL

(./)

(./)

-

-

?

(./)

-

-

-

ELMO

Device Name

PP

VL

PV

PT

HM

IP

CSP

CSV

CST

Elmo Whistle Gold

(./)

-

(./)

?

(./)

(./)

?

?

?

Wiki: canopen_402 (last edited 2018-06-12 11:40:21 by jschleicher)