Control Trinamic stepper using ros_canopen

asked 2023-01-13 06:04:39 -0500

Deakox gravatar image

I am trying to control the PD42-2-1240-CANOPEN.

The CANOPEN manual

The eds file

Result of the initialisation

"Transition timeout; Could not enable motor; Transition timeout"

EMCY :

[ERROR] [1673611017.629659378]: EMCY received: 81#01ff010400000000
[ERROR] [1673611017.630761631]: EMCY received: 81#01ff010300000000
[ERROR] [1673611020.122797084]: EMCY received: 81#20630100ff000000
[ERROR] [1673611025.122682901]: EMCY received: 81#20630100ff000000

candump :

can0 000 [2] 82 01                     
can0 701 [1] 00                        
can0 081 [8] 01 FF 01 04 00 00 00   
can0 601 [8] 2B 17 10 00 00 00 00 00   
can0 081 [8] 01 FF 01 03 00 00 00 00   
can0 581 [8] 60 17 10 00 00 00 00 00   
can0 601 [8] 40 41 60 00 00 00 00 00   
can0 581 [8] 4B 41 60 00 18 06 00 00   
can0 601 [8] 40 61 60 00 00 00 00 00   
can0 581 [8] 4F 61 60 00 00 00 00 00   
can0 601 [8] 40 64 60 00 00 00 00 00   
can0 581 [8] 43 64 60 00 00 00 00 00   
can0 601 [8] 40 6C 60 00 00 00 00 00   
can0 581 [8] 43 6C 60 00 00 00 00 00   
can0 601 [8] 40 40 60 00 00 00 00 00   
can0 581 [8] 4B 40 60 00 00 00 00 00   
can0 000 [2] 01 01                     
can0 181 [2] 18 06                     
can0 281 [3] 18 06 00                  
can0 301 [3] 00 00 01                  
can0 081 [8] 20 63 01 00 FF 00 00 00   
can0 281 [3] 18 06 01                  
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 301 [3] 00 00 00                  
can0 081 [8] 20 63 01 00 FF 00 00 00   
can0 281 [3] 18 06 00                  
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 080 [0]                            
can0 381 [6] 18 06 00 00 00 00         
can0 000 [2] 02 01

I also have an overlay

 dcf_overlay:
      "6060": "1" # Profile position mode

The goal is to control these motors in position mode Any idea where the problem may come from?

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Comments

did you manage to solve this? IF yes, could you please tell me how

nigelbrucekhan gravatar image nigelbrucekhan  ( 2023-04-12 08:22:24 -0500 )edit