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ELMO Motor Drive (EtherCAT) and ROS

asked 2016-07-28 01:53:30 -0500

piyu23srma gravatar image

Hello everyone,

I have a ELMO motor drive( and a brushless dc motor. I want to run these drive and motor using ROS.

I see people are using Pi and arduino for controlling.

How to do this using drive and motor only ?

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how things goes on? Can you share your views ?

Jack_ros gravatar imageJack_ros ( 2016-09-28 03:52:17 -0500 )edit

I am able to run single bldc motor using SOEM, but controlling part is still need to be done to get it work in different different modes.

piyu23srma gravatar imagepiyu23srma ( 2016-11-08 06:20:45 -0500 )edit

Did you choose any ELMO controller?

asdxcsd gravatar imageasdxcsd ( 2016-11-10 19:21:58 -0500 )edit

I am using elmo drive controller

piyu23srma gravatar imagepiyu23srma ( 2016-11-11 03:20:18 -0500 )edit

Can I controll a motor directly with my comper through ROS, without any controller(motion controller,something like that:,just motor drvier?

asdxcsd gravatar imageasdxcsd ( 2016-11-16 01:07:39 -0500 )edit

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answered 2016-11-08 00:27:59 -0500

TraiBo gravatar image

updated 2016-11-08 06:20:40 -0500

Hi Piyush,

I have been working on it for the past 4 months, If you are still struck at the same issue above mentioned, The following information can be useful,

" SOEM is an open source EtherCAT master library written in c" which is available @ . After that try to go through the example codes in following link

1) Download the repository SOEM-master and create a build directory in the path according to you ../../SOEM-master/ 2) Then again crate a test directory in side your build directory ../../SOEM-master/build/test/ 3) Now compile the package alone using cmake .. & make commands in the path ../../SOEM-master/ 4) Then find the executables generated in the path ../../SOEM-master/build/test/ 5) Connect your motor drive using Ethernet cable to your PC 6) Try to run the simple_test executable with sudo permissions as follows sudo ./simpple_test eth0 or eth1 7) Try to understand the response got from the ethercat slave drive like name, id , revision and cross check with the manufacturer data sheet 8) Now decide yourself in which mode you want to run the ethercat slaves for example cyclic synchronous torque mode you can get the example code in the following link 9) Below are the best web links to extend the application code for your requirement

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Please feel free to ask, in case of any query .. :)

TraiBo gravatar imageTraiBo ( 2016-11-08 06:23:54 -0500 )edit

Did you connect your computer with motor driver directly?without motion controller?

asdxcsd gravatar imageasdxcsd ( 2016-11-16 01:30:10 -0500 )edit

HI, No, I am using Elmo gold whistle drive controller.

TraiBo gravatar imageTraiBo ( 2016-11-16 23:34:08 -0500 )edit

TraiBo or piyu23srma do you have a fully working etherCAT interface with ELMO motor controllers? I would like to use their Gold Twitter drivers with etherCAT. If you could share code I would be eternally grateful!

jakeweinmann gravatar imagejakeweinmann ( 2017-03-07 11:49:18 -0500 )edit

Does one have any example code? I'm stuck with it. PDO replies don't work properly and axis is not moving. SDO communication works. ELMO support also is not helpful :|

Carsten gravatar imageCarsten ( 2017-03-28 03:07:15 -0500 )edit

Could this procedure work also for other EtherCAT-based motor drivers - such as Maxon EPOS 4 ?

stex2005 gravatar imagestex2005 ( 2018-10-31 05:22:24 -0500 )edit

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Asked: 2016-07-28 01:53:30 -0500

Seen: 1,839 times

Last updated: Nov 08 '16