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.
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Use a Real-Time Kernel System
Ensure your operating system has a real-time kernel to guarantee consistent and precise communication. -
Isolate CPU Cores
Perform CPU isolation to dedicate specific cores to EtherCAT processes, reducing interruptions and improving stability. -
Troubleshooting OP State Issues
- Failure to enter OP state may be caused by errors in the object dictionary mapping or improper configuration of DC (Distributed Clock) mode.
- eRob only supports DC mode, and proper configuration of DC mode is crucial for system synchronization and precision.
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Read Mode-Specific Instructions
Before using each mode, read the relevant operational instructions to ensure correct configuration and usage. -
Use the Official eRob Upper Computer Software
eRob provides official upper computer software. Mastering the built-in oscilloscope tool will allow you to quickly locate issues with the EtherCAT master. -
Capture and Analyze EtherCAT Data
Use packet capture tools to analyze EtherCAT output and log information to identify errors.
- install eRob-SOEM-Linux
git clone https://github.com/ZeroErrControl/eRob_SOEM_linux.git
cd eRob_SOEM_linux
mkdir build
cd build
cmake ..
make
- CSV mode:
sudo ./build/demo/eRob_CSV- Launch the position subscriber (PP):
sudo ./build/demo/eRob_PP_subscriber
python3 src/erob_ros/src/eCoder_fake.py- Launch the position subscriber (CSP):
sudo ./build/demo/eRob_CSP_subscriber
python3 src/erob_ros/src/eCoder_fake.py