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| 2019-07-12 04:28:35 -0500 | marked best answer | Emergency error of Schunk PG70 Hello, I want to move a PG70 gripper together with a LWA4P using: HW: - Schunk LWA4P
- Schunk PG70-plus
SW: - Ubuntu 16.04
- ROS kinetic
- ros_canopen
I am perfectly able to move the LWA4P, but when I try to move the gripper nothing happens and after a while the gripper node has an emergency error. This is the output of the topic /diagnostics: level: 2
name: "rh_arm/driver: rh_arm_finger_left_joint"
message: "Motor has fault; Node has emergency error"
hardware_id: "none"
values:
-
key: "error_register"
value: "35"
-
key: "errors"
value: "2350#df"
This is my terminal output: ... logging to /home/pem-robot/.ros/log/73c31b08-a3bc-11e9-ad01-2087563168c2/roslaunch-pemrobot-SIMATIC-IPC427E-1988.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://pemrobot-SIMATIC-IPC427E:38445/
SUMMARY
========
CLEAR PARAMETERS
* /lh_arm/driver/
* /mobile_base/
* /rh_arm/driver/
* /torso/torso_driver/
PARAMETERS
* /joint_state_mixer/robot_description: <?xml version="1....
* /lh_arm/driver/bus/device: can2
* /lh_arm/driver/defaults/dcf_overlay/604Csub1: 1
* /lh_arm/driver/defaults/dcf_overlay/604Csub2: 24000
* /lh_arm/driver/defaults/dcf_overlay/6060: 1
* /lh_arm/driver/defaults/eds_file: config/Schunk_0_6...
* /lh_arm/driver/defaults/eds_pkg: pem_arm_lh
* /lh_arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
* /lh_arm/driver/name: arm
* /lh_arm/driver/nodes/lh_arm_0_joint/id: 10
* /lh_arm/driver/nodes/lh_arm_1_joint/id: 5
* /lh_arm/driver/nodes/lh_arm_2_joint/id: 6
* /lh_arm/driver/nodes/lh_arm_3_joint/id: 3
* /lh_arm/driver/nodes/lh_arm_4_joint/id: 4
* /lh_arm/driver/sync/interval_ms: 50
* /lh_arm/driver/sync/overflow: 0
* /lh_arm/hardware_control_loop/loop_hz: 125
* /lh_arm/hardware_interface/joints: ['lh_arm_0_joint'...
* /lh_arm/joint_state_controller/publish_rate: 50
* /lh_arm/joint_state_controller/type: joint_state_contr...
* /lh_arm/pos_based_pos_traj_controller_arm_lh/joints: ['lh_arm_0_joint'...
* /lh_arm/pos_based_pos_traj_controller_arm_lh/publish_rate: 50
* /lh_arm/pos_based_pos_traj_controller_arm_lh/required_drive_mode: 7
* /lh_arm/pos_based_pos_traj_controller_arm_lh/type: position_controll...
* /lh_arm/robot_description: <?xml version="1....
* /mobile_base/back/sick_tim571_back/frame_id: laser_back
* /mobile_base/back/sick_tim571_back/hostname: 192.168.1.20
* /mobile_base/back/sick_tim571_back/max_ang: 1.0
* /mobile_base/back/sick_tim571_back/min_ang: -1.0
* /mobile_base/back/sick_tim571_back/port: 2112
* /mobile_base/back/sick_tim571_back/range_max: 25.0
* /mobile_base/back/sick_tim571_back/timelimit: 5
* /mobile_base/driver/bus/device: can0
* /mobile_base/driver/defaults/dcf_overlay/1016sub0: 0x1
* /mobile_base/driver/defaults/dcf_overlay/1016sub1: 0x007f00c8
* /mobile_base/driver/defaults/dcf_overlay/1017: 0x0032
* /mobile_base/driver/defaults/dcf_overlay/1400sub2: 0x1
* /mobile_base/driver/defaults/dcf_overlay/1600sub0: 0x2
* /mobile_base/driver/defaults/dcf_overlay/1600sub1: 0x60400010
* /mobile_base/driver/defaults/dcf_overlay/1600sub2: 0x60ff0020
* /mobile_base/driver/defaults/dcf_overlay/1800sub2: 0x1
* /mobile_base/driver/defaults/dcf_overlay/1801sub2: 0x1
* /mobile_base/driver/defaults/dcf_overlay/1a00sub0: 0x1
* /mobile_base/driver/defaults/dcf_overlay/1a00sub1: 0x60410010
* /mobile_base/driver/defaults/dcf_overlay/1a01sub0: 0x2
* /mobile_base/driver/defaults/dcf_overlay/1a01sub1: 0x606c0020
* /mobile_base/driver/defaults/dcf_overlay/1a01sub2: 0x60640020
* /mobile_base/driver/defaults/eds_file: config/CANeds-Gol...
* /mobile_base/driver/defaults/eds_pkg: pem_robot_mobile_...
* /mobile_base/driver/defaults/pos_from_device: obj6064*2*3.14/60...
* /mobile_base/driver/defaults/pos_to_device: rint(pos*50.0*60....
* /mobile_base/driver/defaults/vel_from_device: obj606C*2.0*3.14/...
* /mobile_base/driver/defaults/vel_to_device: rint(vel*50.0*60....
* /mobile_base/driver/heartbeat/msg: 77f#05
* /mobile_base/driver/heartbeat/rate: 20
* /mobile_base/driver/name: motor ...
(more) |
| 2019-07-11 04:39:05 -0500 | asked a question | Emergency error of Schunk PG70 Emergency error of Schunk PG70
Hello,
I want to move a PG70 gripper together with a LWA4P using:
HW:
Schunk LWA4P
Sc |
| 2019-07-02 04:38:06 -0500 | received badge | ● Enthusiast
|
| 2019-06-25 07:09:34 -0500 | marked best answer | Schunk LWA4P initialization problem with ros_canopen Hi, I try to launch a LW4P with ros_canopen. I use ROS kinetic and a PCAN-USB Pro adapter.
I already tried out the suggestions on similar problems on ROS answers and on GitHub but unfortunately my issue remains. First I setup my CAN interface $ ~/catkin-pem-robot-v2# sudo ip link set can0 down
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up type can bitrate 500000
$ ~/catkin-pem-robot-v2# sudo ip link set can0 up txqueuelen 20
Then I launch the robot $ ~/catkin-pem-robot-v2$ roslaunch pem_robot pem_robot_v3.launch
WARNING: Could not change permissions for folder [/home/verena/.ros/log/c8077c0a-8dbd-11e9-b028-ac7ba18b123a], make sure that the parent folder has correct permissions.
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://verena-CELSIUS-H730:33227/
SUMMARY
========
CLEAR PARAMETERS
* /lh_arm/driver/
PARAMETERS
* /joint_state_mixer/robot_description: <?xml version="1....
* /lh_arm/driver/bus/device: can0
* /lh_arm/driver/defaults/dcf_overlay/604Csub1: 1
* /lh_arm/driver/defaults/dcf_overlay/604Csub2: 24000
* /lh_arm/driver/defaults/dcf_overlay/6060: 1
* /lh_arm/driver/defaults/eds_file: config/Schunk_0_6...
* /lh_arm/driver/defaults/eds_pkg: pem_arm_lh
* /lh_arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
* /lh_arm/driver/name: arm
* /lh_arm/driver/nodes/lh_arm_0_joint/id: 10
* /lh_arm/driver/nodes/lh_arm_1_joint/id: 5
* /lh_arm/driver/nodes/lh_arm_2_joint/id: 6
* /lh_arm/driver/nodes/lh_arm_3_joint/id: 3
* /lh_arm/driver/nodes/lh_arm_4_joint/id: 4
* /lh_arm/driver/nodes/lh_arm_5_joint/id: 7
* /lh_arm/driver/nodes/lh_arm_6_joint/id: 8
* /lh_arm/driver/sync/interval_ms: 50
* /lh_arm/driver/sync/overflow: 0
* /lh_arm/hardware_control_loop/loop_hz: 125
* /lh_arm/hardware_interface/joints: ['lh_arm_0_joint'...
* /lh_arm/joint_state_controller/publish_rate: 50
* /lh_arm/joint_state_controller/type: joint_state_contr...
* /lh_arm/pos_based_pos_traj_controller_arm_lh/joints: ['lh_arm_0_joint'...
* /lh_arm/pos_based_pos_traj_controller_arm_lh/publish_rate: 50
* /lh_arm/pos_based_pos_traj_controller_arm_lh/required_drive_mode: 7
* /lh_arm/pos_based_pos_traj_controller_arm_lh/type: position_controll...
* /lh_arm/robot_description: <?xml version="1....
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/lh_arm/
driver (canopen_motor_node/canopen_motor_node)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_initialization (rosservice/rosservice)
ros_control_controller_spawner (controller_manager/spawner)
/
joint_state_mixer (pem_robot/joint_state_mixer.py)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [6027]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c8077c0a-8dbd-11e9-b028-ac7ba18b123a
process[rosout-1]: started with pid [6052]
started core service [/rosout]
process[lh_arm/driver-2]: started with pid [6071]
process[lh_arm/ros_control_controller_spawner-3]: started with pid [6072]
process[lh_arm/joint_state_publisher-4]: started with pid [6073]
process[lh_arm/robot_initialization-5]: started with pid [6074]
process[joint_state_mixer-6]: started with pid [6083]
process[robot_state_publisher-7]: started with pid [6093]
[ INFO] [1560418188.416560376]: Using fixed control period: 0.050000000
[INFO] [1560418188.461155]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1560418188.509712642]: Initializing XXX
[ INFO] [1560418188.510056097]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1560418188.510289199]: Current state: 2 device error: system:0 internal_error: 0 (OK)
EMCY: 8A#2232257400000000
EMCY: 85#223225740000803F
EMCY: 86#2232257400001C42
[ INFO] [1560418199.018367789]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1560418199.018453747]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO ...
(more) |
| 2019-06-25 07:09:27 -0500 | answered a question | Schunk LWA4P initialization problem with ros_canopen I just solved my problem.
I had some broken spring contacts inside the LWA4P, f.e. the CAN_ERB_H and CAN_ERB_L. That's |
| 2019-06-24 09:48:15 -0500 | edited question | Schunk LWA4P initialization problem with ros_canopen Schunk LWA4P initialization problem with ros_canopen
Hi,
I try to launch a LW4P with ros_canopen. I use ROS kinetic and |
| 2019-06-24 09:48:15 -0500 | received badge | ● Editor
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| 2019-06-24 09:37:32 -0500 | commented answer | Schunk LWA4P initialization problem with ros_canopen thank you! Yes apparently power supply was one issue. The EMCY message have disappeared now. However, the other error me |
| 2019-06-20 09:08:35 -0500 | received badge | ● Famous Question
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