This is an open-source demo related to the eRob product, provided solely for reference by developers. Please note that issues within the open-source project are independent of the quality of eRob products. Users are advised to exercise caution while using the demo. We are not responsible for any damage caused by improper operations. For any project errors, please raise a query in the Issues section. Collaboration and forks to resolve open-source project issues are welcome.

eRob_CANopen_Linux

mkdir erob_project
cd erob_project
git clone [email protected]:ZeroErrControl/eRob_CANopen_Linux.git
colcon build
source ./install/setup.bash

After the compilation is complete, replace the master.dcf file in the src directory with the master.dcf file located at install/canopen_tests/share/canopen_tests/config/cia_system/master.dcf. Then, run the following commands:

ros2 launch canopen_tests cia402_system.launch.py

Followed by these CANopen commands:

cansend can0 602#2B40600080000000
cansend can0 602#2B40600006000000
cansend can0 602#2B40600007000000
cansend can0 602#2B4060000F000000

If an error like the following occurs:

[cia402_slave_node-4] [INFO] [1732698978.901164570] [cia402_slave]: Received Quick Stop.
[cia402_slave_node-4] [INFO] [1732698978.901249863] [cia402_slave]: Quick_Stop_Active

Please check if the speed error of the eRob motor exceeds the allowable limit.