Add Epos4 configuration example + small updates (README and epos3 com…

…ments in cfg file) (#18) * Update contact in README.md * More precise about comments (PDO mapping) in epos3 configuration file. * Add epos4 50/5 configuration file example.
ICube-Robotics · Jul 3, 2024 · c26fe06 · c26fe06
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diff --git a/README.md b/README.md
@@ -14,4 +14,10 @@ This repository contains the following example packages :
 
 [ICube Laboratory](https://icube.unistra.fr), [University of Strasbourg](https://www.unistra.fr/), France
 
+__Manuel Yguel:__ [[email protected]](mailto:[email protected]), @github: [yguel](https://github.com/yguel)
+
+__Laurent Barbé:__ [[email protected]](mailto:[email protected])
+
+__Philippe Zanne:__ [[email protected]](mailto:[email protected])
+
 __Maciej Bednarczyk:__ [[email protected]](mailto:[email protected]), @github: [mcbed](https://github.com/mcbed)
diff --git a/ethercat_motor_drive/config/maxon_epos3_config.yaml b/ethercat_motor_drive/config/maxon_epos3_config.yaml
@@ -1,33 +1,39 @@
 # Configuration file for Maxon EPOS3 drive
 vendor_id: 0x000000fb
 product_id: 0x64400000
-assign_activate: 0x0300  # DC Synch register
-auto_fault_reset: false  # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
-sdo:  # sdo data to be transferred at drive startup
-  - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
-  - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
-rpdo:  # RxPDO = receive PDO Mapping
+assign_activate: 0x0300 # DC Synch register
+auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
+sdo: # sdo data to be transferred at drive startup
+  - { index: 0x60C2, sub_index: 1, type: int8, value: 10 } # Set interpolation time for cyclic modes to 10 ms
+  - { index: 0x60C2, sub_index: 2, type: int8, value: -3 } # Set base 10-3s
+rpdo: # RxPDO = receive PDO 4 Mapping
   - index: 0x1603
     channels:
-      - {index: 0x6040, sub_index: 0, type: uint16, default: 0}  # Control word
-      - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan}  # Target position
-      - {index: 0x60ff, sub_index: 0, type: int32, default: 0}  # Target velocity
-      - {index: 0x6071, sub_index: 0, type: int16, default: 0}  # Target torque
-      - {index: 0x60b0, sub_index: 0, type: int32, default: 0}  # Offset position
-      - {index: 0x60b1, sub_index: 0, type: int32, default: 0}  # Offset velocity
-      - {index: 0x60b2, sub_index: 0, type: int16, default: 0}  # Offset torque
-      - {index: 0x6060, sub_index: 0, type: int8, default: 8}  # Mode of operation
-      - {index: 0x2078, sub_index: 1, type: uint16, default: 0}  # Digital Output Functionalities
-      - {index: 0x60b8, sub_index: 0, type: uint16, default: 0}  # Touch Probe Function
-tpdo:  # TxPDO = transmit PDO Mapping
+      - { index: 0x6040, sub_index: 0, type: uint16, default: 0 } # Control word
+      - {
+          index: 0x607a,
+          sub_index: 0,
+          type: int32,
+          command_interface: position,
+          default: .nan,
+        } # Target position
+      - { index: 0x60ff, sub_index: 0, type: int32, default: 0 } # Target velocity
+      - { index: 0x6071, sub_index: 0, type: int16, default: 0 } # Target torque
+      - { index: 0x60b0, sub_index: 0, type: int32, default: 0 } # Offset position
+      - { index: 0x60b1, sub_index: 0, type: int32, default: 0 } # Offset velocity
+      - { index: 0x60b2, sub_index: 0, type: int16, default: 0 } # Offset torque
+      - { index: 0x6060, sub_index: 0, type: int8, default: 8 } # Mode of operation
+      - { index: 0x2078, sub_index: 1, type: uint16, default: 0 } # Digital Output Functionalities
+      - { index: 0x60b8, sub_index: 0, type: uint16, default: 0 } # Touch Probe Function
+tpdo: # TxPDO = transmit PDO 4 Mapping
   - index: 0x1a03
     channels:
-      - {index: 0x6041, sub_index: 0, type: uint16}  # Status word
-      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position}  # Position actual value
-      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity}  # Velocity actual value
-      - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}  # Torque actual value
-      - {index: 0x6061, sub_index: 0, type: int8}  # Mode of operation display
-      - {index: 0x2071, sub_index: 1, type: int16}  # Digital Input Functionalities State
-      - {index: 0x60b9, sub_index: 0, type: int16}  # Touch Probe Status
-      - {index: 0x60ba, sub_index: 0, type: int32}  # Touch Probe Position 1 Positive Value
-      - {index: 0x60bb, sub_index: 0, type: int32}  # Touch Probe Position 1 Negative Value
+      - { index: 0x6041, sub_index: 0, type: uint16 } # Status word
+      - { index: 0x6064, sub_index: 0, type: int32, state_interface: position } # Position actual value
+      - { index: 0x606c, sub_index: 0, type: int32, state_interface: velocity } # Velocity actual value
+      - { index: 0x6077, sub_index: 0, type: int16, state_interface: effort } # Torque actual value
+      - { index: 0x6061, sub_index: 0, type: int8 } # Mode of operation display
+      - { index: 0x2071, sub_index: 1, type: int16 } # Digital Input Functionalities State
+      - { index: 0x60b9, sub_index: 0, type: int16 } # Touch Probe Status
+      - { index: 0x60ba, sub_index: 0, type: int32 } # Touch Probe Position 1 Positive Value
+      - { index: 0x60bb, sub_index: 0, type: int32 } # Touch Probe Position 1 Negative Value
diff --git a/ethercat_motor_drive/config/maxon_epos4_50_5_config.yaml b/ethercat_motor_drive/config/maxon_epos4_50_5_config.yaml
@@ -0,0 +1,39 @@
+# Configuration file for Maxon EPOS4 50/5 drive
+vendor_id: 0x000000fb
+product_id: 0x63500000 # Product code
+assign_activate: 0x0300 # DC Synch register
+auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
+sdo: # sdo data to be transferred at drive startup
+  - { index: 0x60C2, sub_index: 1, type: int8, value: 10 } # Set interpolation time for cyclic modes to 10 ms
+  - { index: 0x60C2, sub_index: 2, type: int8, value: -3 } # Set base 10-3s
+rpdo: # RxPDO = receive PDO 4 Mapping
+  - index: 0x1603
+    channels:
+      - { index: 0x6040, sub_index: 0, type: uint16, default: 0 } # Control word
+      - {
+          index: 0x607a,
+          sub_index: 0,
+          type: int32,
+          command_interface: position,
+          default: .nan,
+        } # Target position
+      - { index: 0x60ff, sub_index: 0, type: int32, default: 0 } # Target velocity
+      - { index: 0x6071, sub_index: 0, type: int16, default: 0 } # Target torque
+      - { index: 0x60b0, sub_index: 0, type: int32, default: 0 } # Offset position
+      - { index: 0x60b1, sub_index: 0, type: int32, default: 0 } # Offset velocity
+      - { index: 0x60b2, sub_index: 0, type: int16, default: 0 } # Offset torque
+      - { index: 0x6060, sub_index: 0, type: int8, default: 8 } # Mode of operation
+      - { index: 0x3150, sub_index: 1, type: uint16, default: 0 } # Digital Output Properties
+      - { index: 0x60b8, sub_index: 0, type: uint16, default: 0 } # Touch Probe Function
+tpdo: # TxPDO = transmit PDO 4 Mapping
+  - index: 0x1a03
+    channels:
+      - { index: 0x6041, sub_index: 0, type: uint16 } # Status word
+      - { index: 0x6064, sub_index: 0, type: int32, state_interface: position } # Position actual value
+      - { index: 0x606c, sub_index: 0, type: int32, state_interface: velocity } # Velocity actual value
+      - { index: 0x6077, sub_index: 0, type: int16, state_interface: effort } # Torque actual value
+      - { index: 0x6061, sub_index: 0, type: int8 } # Mode of operation display
+      - { index: 0x3141, sub_index: 1, type: int16 } # Digital Input Properties
+      - { index: 0x60b9, sub_index: 0, type: int16 } # Touch Probe Status
+      - { index: 0x60ba, sub_index: 0, type: int32 } # Touch Probe Position 1 Positive edge
+      - { index: 0x60bb, sub_index: 0, type: int32 } # Touch Probe Position 1 Negative edge