Errors when using motorconf

Error: Unable to locate any slaves

  •  root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0
    
     Unable to locate any slaves

Solution: Check the following things:

  • Are you on a machine connected MCBs?
    • On most robots this is machine 1, prX1.
  • Is the interface up?
    • In this example the interface is ecat0.
        sudo ifconfig ecat0 up

Error: No default motor for this name

  •  root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 -p -n actuator_name -d 0
    
     [ INFO] 1236963380.428284000: Device #02: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.429241000:             Serial #: 01070
     [ INFO] 1236963380.431508000:             Name: fr_caster_l_wheel_motor
     [ INFO] 1236963380.475175000: Device #03: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.476185000:             Serial #: 01101
     [ INFO] 1236963380.478312000:             Name: fr_caster_r_wheel_motor
     [ INFO] 1236963380.522127000: Device #04: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.523138000:             Serial #: 01025
     [ INFO] 1236963380.525259000:             Name: fr_caster_rotation_motor
     .
     .
     Usage: ./motorconf [options]
     -i, --interface <i>    Use the network interface <i>
     -a, --actuators <file> Get the actuator definitions from file (default: actuators.conf)
     -d, --device <d>       Select the device to program
     -b, --board <b>        Set the expected board type (wg005, wg006, wg021)
     -p, --program          Program a motor control board
     -n, --name <n>         Set the name of the motor control board to <n>
        Known actuator names:
          bl_caster_l_wheel_motor
          bl_caster_r_wheel_motor
          .
          .
     -m, --motor <m>        Set the configuration for motor <m>
        Legal motor values are:
          148877 - Maxon 148877
          222057 - Maxon 222057
          .
          .
     -h, --help    Print this message and exit
     Error: No default motor for this name

Solution:

  • Check the spelling of the actuator name
  • Is the actuator defined in actuators.conf?
  • Did you mean to use an alternate actuators configuration file (-a option)?
  • Explicitly specify a motor with the -m option

Error: There is no device at position #X

  •  root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 -p -n actuator_name -d X
     [ INFO] 1236963380.428284000: Device #02: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.429241000:             Serial #: 01070
     [ INFO] 1236963380.431508000:             Name: fr_caster_l_wheel_motor
     [ INFO] 1236963380.475175000: Device #03: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.476185000:             Serial #: 01101
     [ INFO] 1236963380.478312000:             Name: fr_caster_r_wheel_motor
     [ INFO] 1236963380.522127000: Device #04: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
     [ INFO] 1236963380.523138000:             Serial #: 01025
     [ INFO] 1236963380.525259000:             Name: fr_caster_rotation_motor
     .
     .
     [FATAL] 1236963689.398617000: There is no device at position #X

Solution:

  • Did you give the correct device location?

Error: Returns without finding slaves

  •  root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 
     Filename: actuators.conf
     With:
     Socket created: socket id: 3
     Got interface: index: 0
     Packet round-trip timeout has been set to 20000 usecs.

Solution:

  • Is the power board on?
    •   roscd pr2_power_board
        rosmake
        roslaunch gui_power2.launch

Wiki: ethercat_hardware/Troubleshooting (last edited 2010-01-19 21:39:56 by RobWheeler)