adi_tmc_coe_interfaces

Custom interfaces for adi_tmc_coe

• Links
  • Rosindex
• Message Definitions
  • TmcCoeInfo
• Service Definitions
  • ChangeCia402State
  • ChangeNMTState
  • CyclicSyncMode
  • ReadWritePDO
  • ReadWriteSDO
• Standard Documents
  • README
  • PACKAGE
  • CHANGELOG

README

adi_tmc_coe_interfaces
Custom interfaces for ROS Driver for Trinamic Motor Controllers (TMC) that uses CANopen-over-etherCAT(CoE) protocol.

Custom msg

adi_tmc_coe_interfaces/msg/TmcCoeInfo

Data	Data Type	Description
interface_name	string	Interface name, commonly starting in "en" or "eth"
slave_number	uint8	Slave number starting with 1 up to 255
motor_number	uint8	Motor number starting with 0 (for motor 0 or axis 0)
mode_of_operation	string	"None", "Profile Position", "Profile Velocity", "Homing Mode", "Cyclic Synchronous Position Mode", "Cyclic Synchronous Velocity Mode", "Cyclic Synchronous Torque Mode"
status_word	int32	Reflects status of the CiA402 state machine
velocity	float32	If wheel_diameter parameter is set to 0, the unit for published velocity is rpm, else m/s
position	int32	If Position Scaler and Encoder steps are not available as device parameter, the unit for published position is steps, else degree angle
torque	int32	Units in mA

Custom srv

adi_tmc_coe_interfaces/srv/ReadWriteSDO

	Data	Data Type	Description	Input
Request
	slave_number	uint8	Slave number of the selected device. The count should start with "1"	1-255
	object_name	string	Object Name of the Parameter	Check the autogenerated yaml of the used module and use the obj_name
	value	string	When reading, not required	-
			When writing, should be input value	When writing, this is integer in string form. Check the object limits on device's firmware manual. e.g. TMCM-1461
Response
	output	int32	Returns the actual value of the SDO	-
	result	bool	Returns true if successful, false if an error occurs (wrong input/s, data not received correctly)	-

---

adi_tmc_coe_interfaces/srv/ReadWritePDO

Request

	Data	Data Type	Description	Input
Request
	slave_number	uint8	Slave number of the selected device. The count should start with "1"	1-255
	cmd	string	Commands available in PDO to read	When reading, "modes of operation display", "statusword", "actual velocity", "demand velocity", "actual position", "demand position", "actual torque", "demand torque"
			Commands available in PDO to write to	When writing, "modes of operation", "controlword", "target velocity", "target position", "target torque"
	value	int32	When reading, not required	-
			When writing, should be input value	When writing, this is integer in string form. Check the object limits on device's firmware manual. e.g. TMCM-1461
Response
	actual_value	int32	Returns the actual value of the PDO	-
	result	bool	Returns true if successful, false if an error occurs (wrong input/s, data not received correctly)	-

---

adi_tmc_coe_interfaces/srv/ChangeNMTState

	Data	Data Type	Description	Input
Request
	slave_number	uint8	Slave number of the selected device. The count should start with "1"	1-255
	request_state	string	Requested state of the device; Check the NMT state diagram for correct sequence.	"init", "preop", "safeop", "operational"
Response
	current_state	string	Returns the current state of the device	-
	result	bool	Returns true if successful, false if an error occurs (wrong input/s, wrong sequence)	-

---

adi_tmc_coe_interfaces/srv/ChangeCia402State

	Data	Data Type	Description	Input
Request
	slave_number	uint8	Slave number of the selected device. The count should start with "1"	1-255
	request_state	string	Requested CiA402 or DS402 state of the device; Check the DS402 State Diagram for correct sequence.	"switch on disable", "ready to switch on", "swithed on", "operation enabled", "quick stop active"
Response
	current_state	string	Returns the current state of the device	-
	result	bool	Returns true if successful, false if an error occurs (wrong input/s, wrong sequence)	-

adi_tmc_coe_interfaces/srv/CyclicSyncMode

	Data	Data Type	Description	Input
Request
	slave_number	uint8	Slave number of the selected device. The count should start with "1"	1-255
	CS_cmd	string	Cyclic Synchronous Modes	"csp" - Cyclic Synchronous Position, "csv" - Cyclic Synchronous Velocity, "cst" - Cyclic Synchronous Torque
	interpolation_time_period	uint8	Sets the delay for every cycle of data sent	1-255
	interpolation_time_index	int8	Index for interpolation time period where the value increases by the factor of 10	-3 to 3
	value	int32[]	Set of values to be sent to the device	array/vector of int32
Response
	bool	result	Returns true if successful, false if an error occurs (wrong input/s)	-

---