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The communication of the new SCHUNK Powerball LWA 4.6 arm is based on CANOpen. The old m5api (Schunk Motion Protocol 5) is not supported!

There is a very new canopen package ipa_canopen. I've got the test commands running (ipa_canopen_core/tools/move_device) - still need to configure the rospackage for the SCHUNK arm. Device IDs are 3/4 (Cube1) 5/6 (Cube2), 7/8 (Cube3) and 12 for the Gripper (using WSG-50). The ipa_canopen package only supports PCAN (PEAK CAN) devices at the moment (we use a pcan-usb-can adapter).

Hope this helps.

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