ros_canopen with lwa4d initialization fails

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Your new DCF specifies a ParameterValue (0x00) for 2303sub3, but your controller does not like it. ros_canopen sends SDOs for all non-default parameters at start-up. Please consult the EPOS manual to find out in which cases 2303sub3 (and 1003) can be written.

I commented some objectdict in my DCF file and run rosservice init. I still observed one error, 60c1sub1, which is not listed in EPOS manual. and I also consulted Drive operation modes, it's shown Interpolated Position. but EPOS manual doesn't mention 60C1 item. Could you plz advise for this issue?

log and details listed on above [latest update 1/2] , thanks for your time and the reply

Maxon uses 0x20C1 instead of 0x60C1, not sure why.. There is not config option for the object to use, so you have to subclass the 402 layer to make it work. Or just use another mode.. (Please ask a new question if you really want to subclass)

You probably want to use Maxon-specific Postion Mode (-1).

Or http://wiki.ros.org/epos_hardware

Did you mean I should not comment some objectdict in my DCF file eg. 2303sub3 (analog position setpoint notation index) or each of Drive operation modes should be included and make it work? I will ask a new question, thanks for the reply.

For my understanding, epos_hardware only supports USB and rs232. My intention is to use CANopen to communicate with my robot. Is ros_canopen package the only one solution for my case? If yes, I will try to let it work on my robot. Thank you for the reply.

Maxon does not support standard IP mode, it uses setpoint (pos, vel & time) with 0x20C1.

You could implement this mode (difficult) or you could implement mode -1 (looks almost like IP mode).

If you do not need full trajectories, you can uses PP mode. Or you can use a PID controller with Pv mode.

Yes, I don't need full trajectories, just need PP mode, PV mode, and torque mode. Do you know where I could find more information about mode -1 as you mentioned? I'm a little bit confused. Could you advise how to skip IP mode or should I ask a new question?

mode -1 (position mode) is documented in the manual you linked above If you don't need IP mode, don't map 0x60c1 and better do not use the schunk bringup, as is was designed for trajectories and uses them by default.

Better start from scratch with http://answers.ros.org/question/25017... You can copy parts from schunk_robot, as long as you understand the implications.

Hi all, I am running into the same problem. I have a Maxon EPOS70/10 motor controller and I would like to drive a motor over the CAN bus. I had a look at https://answers.ros.org/question/2501... .

After this I followed the link https://github.com/ipa320/canopen_tes... and adapted the config files for CAN. Once I start the rosservice call /../driver/init I get a time out error when trying to write to index 0x60C1. I tried to configure the drive_mode to 1 that according to canopen_402 is PP

I can start a new question with all the details if required.

Did following in order to avoid the IP mode for the Maxon motor. In the dcf config file for the canopen I wrote for the dictionary entry 0x6502 following value 0x003F0025. This differs from the controller value (0x003F0065) in the bit 7. The value of this bit is set to 0 in the dcf. Hope this helps.

Hi CJ, Mathias and Edgar, I am trying to move 6 Maxon MCD Epos with an IXXAT adapter. I look in my DCF file and have the entry 0x6502, do I have to assign manually the value (0x6502=0x003F0025)? Also, I have that value at the end of the file.

Also I change the required_drive_mode to -1, but still having the same error:

Hi, I did change and saved the value of the dictionary entry 0x6502 using the EPOS Studio SW. I exported then the DCF file from there and used it in the ros_canopen package. For my application I had to use the profiled velocity mode and this is why I used the the value 3 in the required_drive_mode.

Hi again @Edgar Carrasco, I'm trying to modify the dictionary entry, but is impossible. I have try with EPOS_UserInterface and EPOS Studio. It says that the object is not ReadWrite, because is a Constant.

Did you have that problem? If yes, how could you solved it?

Just change it in the EDS/DCF with a text editor.

Hi @Mathias Lüdtke, I have this in my DCF file:

[6502]
ParameterName=Supported Drive Modes
DataType=0x0007
AccessType=const
PDOMapping=0
ObjFlags=0x1
ParameterValue=0x003F0025

But the error persists.

I changed also:

66=0x003F0025

and

[003F0025]
ParameterName=Supported Drive Modes
DataType=0x0007
AccessType=const
PDOMapping=0
ObjFlags=0x1
ParameterValue=0x003F0025

But still the error

This entry is const, you cannot change ParameterValue. Please set DefaultValue instead.

I add the DefaultValue, but the same error:

[6502]
ParameterName=Supported Drive Modes
DataType=0x0007
AccessType=const
DefaultValue=0x003F0025
PDOMapping=0
ObjFlags=0x1
ParameterValue=0x003F0025

Also, change the PDOMapping to 1, and the same result

Please open a new question. It is wrong to change PDOMapping and 66=0x003F0025 is not even valid.