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Solution:
For those with a Schneider Lexium motor you will need to set the profile velocity object key. This can be done using your .yaml's dcf_overlay by setting "6081": "{velocity}". I set it to 10,000.

Solution:
For those with a Schneider Lexium motor you will need to set the target position profile velocity object key. This can be done using your .yaml's dcf_overlay by setting "6081": "{velocity}". I set it to 10,000.

Solution:
For those with a Schneider Lexium motor you will need to set the target position profile velocity object key. This can be done using your .yaml's dcf_overlay by setting "6081": "{velocity}". I set it to 10,000.10,000.

Don't forget to set current limits.

Solution:
For those with a Schneider Lexium motor you will need to set the target position profile velocity object key. This can be done using your .yaml's dcf_overlay by setting "6081": "{velocity}". I set it to 10,000.

Don't forget to set motor current limits.limits to not burn out motor windings.

Solution:
For those with a Schneider Lexium motor you will need to set the target position profile velocity object key. This can be done using your .yaml's dcf_overlay by setting "6081": "{velocity}". I set it to 10,000.

Don't forget to set motor current limits to not burn out motor windings.

EDIT...
Debugging:

I used env-loader to set ROSCONSOLE_CONFIG_FILE. This is useful for filtering out messages from the master PC and focus only on the remote machine. Wireshark decoding as canopen is essential, and the CiA 402 and 301 standards for decoding messages. If all looks good then its likely to be a vendor specific issue and that needs a bit intuition and the vendors manual.