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1 | initial version |
(from the manual:) The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0
Note that I have changed the switching_state parameter to 2 but this did not have any effect on init function behavior.
I don't think this is necessary, at least I don't find the requirement in the manual at a first glance. The mode 0 in the PDO message does not correspond to mode switch, but to the default value in the EDS. (Your config couples the control word and the mode in one PDO, so both get sent)
If you want to set the initial value, just add a ParameterValue
with a specific mode to your EDS/DCF.
Or use the dcf_overlay
feature for convenience (http://wiki.ros.org/canopen_chain_node?distro=indigo#CA-aac0b244a9b279b10a86af0a165ff7215371ab50_4)
This way 6060
gets written before the start-up and any PDO.
2 | No.2 Revision |
(from the manual:) The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0
Note that I have changed the switching_state parameter to 2 but this did not have any effect on init function behavior.
I don't think this is necessary, at least I don't find the requirement in the manual at a first glance. The mode 0 in the PDO message does not correspond to mode switch, but to the default value in the EDS. (Your config couples the control word and the mode in one PDO, so both get sent)
If you want to set the initial value, just add a ParameterValue
with a specific mode to your EDS/DCF.
Or use the dcf_overlay
feature for convenience (http://wiki.ros.org/canopen_chain_node?distro=indigo#CA-aac0b244a9b279b10a86af0a165ff7215371ab50_4)
(http://wiki.ros.org/canopen_chain_node?distro=indigo#CA-aac0b244a9b279b10a86af0a165ff7215371ab50_4).
This way 6060
gets written before the start-up and any PDO.