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Is the Schunk powerball package working? Always get an error.

asked 2012-11-08 21:24:12 -0500

madmax gravatar image

updated 2014-01-28 17:14:12 -0500

ngrennan gravatar image

Hi,

I am trying to get my powerball up and running with a Peak USB to Can module. But when I want to start the modules, I always get this error:

initstring = PCAN:/dev/pcan32,500000
PCanDevice successfully opened on /dev/pcan32
Initializing pcan device ...
PcanDevice, init ok
[ INFO] [1352452510.964341600]: ...initializing powercubes not successful. error:         
Could not reset module 5, m5api error code: -207

Can someone tell me if this package is working or what I am doing wrong?

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answered 2012-12-04 07:03:25 -0500

kglatz gravatar image

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 https://github.com/ipa320/ipa_canopen (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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I was told that the ROS wrapper should be available in the next days.

madmax gravatar imagemadmax ( 2012-12-07 08:48:21 -0500 )edit
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answered 2012-11-10 02:28:13 -0500

Murilo Marinho gravatar image

updated 2012-11-10 02:32:33 -0500

The -207 error code stands for a CAN write error. This usually means that something is wrong with the driver configuration, the configuration file or with the communication's physical connection.

As the error appeared in module 5, it should mean that the program was able to reset all the other 4 modules, so your driver configuration should be fine. So, it either means that your robot only has 4 modules or that there's something wrong with your fifth module.

By something wrong, it could be the physical connection problem I said before: disconnected cables, power supply issues and so on. It could also be caused by a wrong moduleID configuration, in which you tried reaching a moduleID that isn't connected to the CAN Bus.

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answered 2012-11-18 22:25:15 -0500

Andy_H gravatar image

Hi there,

good to know that someone else is also working with a Powerball Arm. Could you please point me to the driver package that you are using? I can only find the simulation package... Is it based on CanOpen? Or CAN? Or the Schunk Motion Protocol? Thanks!

(sorry, this is no valid answer, but I could not find the "commenting tool")

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Sorry, have not stopped by in a long time ;) But @kglatz gave you a pretty good answer. I use this driver also and modified it to work with an ethernet to CAN adapter frpm VSCOM.

madmax gravatar imagemadmax ( 2012-12-07 08:46:42 -0500 )edit

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Asked: 2012-11-08 21:24:12 -0500

Seen: 1,118 times

Last updated: Dec 04 '12