diff --git a/cob_bringup/drivers/mimic.launch b/cob_bringup/drivers/mimic.launch index cf2979b51..93cf1a1f7 100644 --- a/cob_bringup/drivers/mimic.launch +++ b/cob_bringup/drivers/mimic.launch @@ -2,6 +2,6 @@ - + diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml index 1fc766c74..b4d102261 100644 --- a/cob_bringup/robots/cob4-2.xml +++ b/cob_bringup/robots/cob4-2.xml @@ -85,6 +85,12 @@ + + + + + + @@ -204,9 +210,10 @@ - + + diff --git a/cob_bringup/tools/android.launch b/cob_bringup/tools/android.launch new file mode 100644 index 000000000..6aacc285e --- /dev/null +++ b/cob_bringup/tools/android.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/cob_bringup/tools/behavior.launch b/cob_bringup/tools/behavior.launch new file mode 100644 index 000000000..25d6364aa --- /dev/null +++ b/cob_bringup/tools/behavior.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/cob_bringup/tools/teleop.launch b/cob_bringup/tools/teleop.launch index f98f9675e..de5759949 100644 --- a/cob_bringup/tools/teleop.launch +++ b/cob_bringup/tools/teleop.launch @@ -14,3 +14,4 @@ + diff --git a/cob_default_robot_behavior/CMakeLists.txt b/cob_default_robot_behavior/CMakeLists.txt new file mode 100644 index 000000000..70aae3a67 --- /dev/null +++ b/cob_default_robot_behavior/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cob_default_robot_behavior) + +find_package(catkin REQUIRED COMPONENTS) + +catkin_package() + +set(robotlist + cob4-2 +) + +foreach(robot ${robotlist}) + install(PROGRAMS scripts/trigger_srvs_${robot}.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) +endforeach() diff --git a/cob_default_robot_behavior/package.xml b/cob_default_robot_behavior/package.xml new file mode 100644 index 000000000..7129a2abb --- /dev/null +++ b/cob_default_robot_behavior/package.xml @@ -0,0 +1,18 @@ + + cob_default_robot_behavior + 0.0.0 + The cob_default_robot_behavior package + + LGPL + + Nadia Hammoudeh Garcia + + catkin + + cob_light + cob_script_server + rospy + std_msgs + std_srvs + + diff --git a/cob_default_robot_behavior/scripts/trigger_srvs_cob4-2.py b/cob_default_robot_behavior/scripts/trigger_srvs_cob4-2.py new file mode 100755 index 000000000..1df2b40c6 --- /dev/null +++ b/cob_default_robot_behavior/scripts/trigger_srvs_cob4-2.py @@ -0,0 +1,284 @@ +#!/usr/bin/python +################################################################# +##\file +# +# \note +# Copyright (c) 2015 \n +# Fraunhofer Institute for Manufacturing Engineering +# and Automation (IPA) \n\n +# +################################################################# +# +# \note +# Project name: care-o-bot +# \note +# ROS stack name: cob_robots +# \note +# ROS package name: cob_default_robot_behavior +# +# \author +# Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de +# \author +# Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de +# +# \date Date of creation: Aug 2015 +# +# \brief +# Implements script server functionalities. +# +################################################################# +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# - Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. \n +# - Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. \n +# - Neither the name of the Fraunhofer Institute for Manufacturing +# Engineering and Automation (IPA) nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. \n +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License LGPL as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License LGPL for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License LGPL along with this program. +# If not, see . +# +################################################################# + +from cob_light.srv import * +from cob_light.msg import * + +import rospy +from simple_script_server import * +sss = simple_script_server() +from std_msgs.msg import ColorRGBA +from std_srvs.srv import Trigger + +def torso_front_cb(req): + handle_arm_left = sss.move("arm_left","side", False) + handle_arm_right = sss.move("arm_right","side", False) + handle_arm_left.wait() + handle_arm_right.wait() + if handle_arm_left.get_error_code() == 0 and handle_arm_right.get_error_code() == 0: + sss.move_base_rel("base",[0,0,1.57],False) + sss.move("torso","front",True) + + return + +def front_to_home_cb(req): + handle_arm_left = sss.move("arm_left","side", False) + handle_arm_right = sss.move("arm_right","side", False) + handle_arm_left.wait() + handle_arm_right.wait() + if handle_arm_left.get_error_code() == 0 and handle_arm_right.get_error_code() == 0: + sss.move_base_rel("base",[0,0,-1.57],False) + sss.move("torso","home",False) + return + +def pick_cb(req): + #sss.set_mimic("mimic",["asking",0,1]) + sss.set_mimic("mimic",["happy",0,1]) + handle_arm_left = sss.move("arm_left","side", False) + handle_arm_right = sss.move("arm_right","side", False) + #sss.set_mimic("mimic",["happy",0,1]) + handle_arm_left.wait() + handle_arm_right.wait() + if handle_arm_left.get_error_code() == 0 and handle_arm_right.get_error_code() == 0: + sss.move("torso","front",False) + sss.move_base_rel("base",[0,0,1.57],False) + rospy.loginfo("------------------1 arm right movement") + handle_arm_right = sss.move("arm_right",[[1.2, 0.85, -1.0499900779997886, -1.660000104864327, -1.0499900779997886, -0.6999817498048457, 1.0699740979351238]], False) + sss.sleep(2) + sss.move_base_rel("base",[0,0,0.5],False) + rospy.loginfo("------------------2 arm right movement") + handle_arm_right = sss.move("arm_right",[[2.929779495567761, 0.9417796643761402, -2.5, -1.5, -0.28560567879635207, -0.41160099749782275, 0.2752035164544659]], False) + sss.sleep(2) + handle_arm_left = sss.move("arm_left",[[-0.9599, -1.5708, 0.12, -1.0, -1.38, -0.75, 1.36]], False) + sss.sleep(2) + rospy.loginfo("torso movement") + sss.move("torso",[[-3.14,2.7]],False) + handle_arm_right = sss.move("arm_right",[[2.9300063883705207, 0.41079814604190534, -2.4999747139716377, -1.4999883190414864, -0.2899864552188579, -0.40999529458598793, 0.2800031718974503]], True) + handle_arm_right = sss.move("arm_right",[[2.929988935078001, 0.9391791237906687, -2.940007124984448, -0.8784067592362261, -0.2899864552188579, -0.23357741379440114, 0.2800031718974503]], True) + sss.sleep(3) + #move right arm + #open the gripper + + ##RETURN + + + handle_arm_right = sss.move("arm_right",[[2.9300063883705207, 0.41079814604190534, -2.4999747139716377, -1.4999883190414864, -0.2899864552188579, -0.40999529458598793, 0.2800031718974503]],True) + #sss.sleep(1) + sss.move("torso","front",False) + handle_arm_right = sss.move("arm_right",[[2.929779495567761, 0.9417796643761402, -2.5, -1.5, -0.28560567879635207, -0.41160099749782275, 0.2752035164544659]], False) + sss.move_base_rel("base",[0,0,-0.3],False) + sss.sleep(2) + sss.move("torso","home",False) + handle_arm_right = sss.move("arm_right",[[1.2, 0.85, -1.0499900779997886, -1.660000104864327, -1.0499900779997886, -0.6999817498048457, 1.0699740979351238]], False) + handle_base = sss.move_base_rel("base",[0,0,-1.2],False) + sss.sleep(2) + handle_arm_left = sss.move("arm_left","side", False) + handle_arm_right = sss.move("arm_right","side", False) + sss.set_mimic("mimic",["blinking_right",0,1]) + handle_base.wait() + + return + +def setLightCyan_cb(req): + sss.set_light("light_base","cyan") + sss.set_light("light_torso","cyan") + return + +def setLightRed_cb(req): + sss.set_light("light_base","red") + sss.set_light("light_torso","red") + return + +def setLightGreen_cb(req): + sss.set_light("light_base","green") + sss.set_light("light_torso","green") + return + +def setLightCyanSweep_cb(req): + #rospy.wait_for_service('/light_torso/set_light') + sss.set_light("light_base","cyan") + + try: + set_light_torso = rospy.ServiceProxy("/light_torso/set_light",SetLightMode) + light_mode = LightMode() + cyan_color = ColorRGBA() + cyan_color.r = 0.0 + cyan_color.g = 1.0 + cyan_color.b = 0.5 + cyan_color.a = 0.4 + light_mode.colors.append(cyan_color) + light_mode.mode = 8 + light_mode.frequency = 30 + resp = set_light_torso(light_mode) + print resp + return + except rospy.ServiceException, e: + print "Service call failed: %s"%e + +def setLightCyanBreath_cb(req): + #rospy.wait_for_service('/light_torso/set_light') + sss.set_light("light_base","cyan") + + try: + set_light_torso = rospy.ServiceProxy("/light_torso/set_light",SetLightMode) + light_mode = LightMode() + cyan_color = ColorRGBA() + cyan_color.r = 0.0 + cyan_color.g = 1.0 + cyan_color.b = 0.5 + cyan_color.a = 0.4 + light_mode.color = cyan_color + light_mode.mode = 3 + light_mode.frequency = 0.25 + resp = set_light_torso(light_mode) + print resp + return + except rospy.ServiceException, e: + print "Service call failed: %s"%e + + +def setMimicLaughing_cb(req): + sss.set_mimic("mimic",["laughing",0,1]) + return + +def setMimicAsking_cb(req): + sss.set_mimic("mimic",["asking",0,1]) + return + +def setMimicYes_cb(req): + sss.set_mimic("mimic",["yes",0,1]) + return + +def setMimicBlinkingRight_cb(req): + sss.set_mimic("mimic",["blinking_right",0,1]) + return + +def setMimicConfused_cb(req): + sss.set_mimic("mimic",["confused",0,1]) + return + +def setMimicAngry_cb(req): + sss.set_mimic("mimic",["angry",0,1]) + return + +def setMimicFallingAsleep_cb(req): + sss.set_mimic("mimic",["falling_asleep",0,1]) + return + +def soundR2D2_cb(req): + sss.play("R2D2") + return + +def showCamera_left_cb(req): + sss.move("arm_left",[[-1.7642137145009082, -1.2919974320813223, 1.3, 1.8777473823431394, -0.0, -0.24, -0.0]]) + sss.move("gripper_left","open") + return + +def showCamera_right_cb(req): + sss.move("arm_right",[[1.7642137145009082, 1.2919974320813223, -1.3, -1.8777473823431394, 0.0, 0.24, 0.0]]) + sss.move("gripper_right","open") + return + +def soundNoConnection_cb(req): + sss.set_mimic("mimic",["confused",0,1]) + sss.play("confused") + return + +def soundNegative_cb(req): + sss.play("negative") + return + +def soundStarting_cb(req): + sss.play("starting") + return + +def soundHello_cb(req): + sss.say(["Hello, my name is Care O bot, a mobile service robot from Fraunhofer I.P.A."]) + sss.say(["I am at your command."]) + return + +def trigger_srvs(): + rospy.init_node('trigger_srvs') + s = rospy.Service('/behavior/torso_front', Trigger, torso_front_cb) + s = rospy.Service('/behavior/torso_front_home', Trigger, front_to_home_cb) + s = rospy.Service('/behavior/pick', Trigger, pick_cb) + s = rospy.Service('/behavior/setLightCyan', Trigger, setLightCyan_cb) + s = rospy.Service('/behavior/setLightRed', Trigger, setLightRed_cb) + s = rospy.Service('/behavior/setLightGreen', Trigger, setLightGreen_cb) + s = rospy.Service('/behavior/setLightCyanSweep', Trigger, setLightCyanSweep_cb) + s = rospy.Service('/behavior/setLightCyanBreath', Trigger, setLightCyanBreath_cb) + s = rospy.Service('/behavior/setMimicLaughing', Trigger, setMimicLaughing_cb) + s = rospy.Service('/behavior/setMimicAsking', Trigger, setMimicAsking_cb) + s = rospy.Service('/behavior/setMimicYes', Trigger, setMimicYes_cb) + s = rospy.Service('/behavior/setMimicBlinkingRight', Trigger, setMimicBlinkingRight_cb) + s = rospy.Service('/behavior/setMimicConfused', Trigger, setMimicConfused_cb) + s = rospy.Service('/behavior/setMimicAngry', Trigger, setMimicAngry_cb) + s = rospy.Service('/behavior/setMimicFallingAsleep', Trigger, setMimicFallingAsleep_cb) + s = rospy.Service('/behavior/soundR2D2', Trigger, soundR2D2_cb) + s = rospy.Service('/behavior/soundNoConnection',Trigger,soundNoConnection_cb) + s = rospy.Service('/behavior/soundNegative',Trigger,soundNegative_cb) + s = rospy.Service('/behavior/soundStarting',Trigger,soundStarting_cb) + s = rospy.Service('/behavior/soundHello',Trigger,soundHello_cb) + s = rospy.Service('/gripper_left/driver/showCamera_left',Trigger, showCamera_left_cb) + s = rospy.Service('/gripper_right/driver/showCamera_right',Trigger, showCamera_right_cb) + + rospy.spin() + +if __name__ == "__main__": + trigger_srvs() diff --git a/cob_default_robot_config/cob4-2/arm_left_joint_configurations.yaml b/cob_default_robot_config/cob4-2/arm_left_joint_configurations.yaml index 5a4cccdac..aba3962a6 100644 --- a/cob_default_robot_config/cob4-2/arm_left_joint_configurations.yaml +++ b/cob_default_robot_config/cob4-2/arm_left_joint_configurations.yaml @@ -8,3 +8,15 @@ home: [[0,0,0,0,0,0,0]] folded: [[0.9599, 1.5708, -0.1200, 1.0000, 1.3800, 0.7500, -1.3600]] side: [[-0.9599, -1.6581, 1.0472, 1.6581, 1.0472, 0.6981, -1.0700]] ship: [[0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0]] + +hello1: [[-1.69,-1.19,0.48,2.09,0.34,-0.16,-0.12]] +hello2 : [[-1.69, -1.19, 0.48, 2.61, 0.34, 0.38, 0.5]] +arm_to_tray : [[1.06, 1.2, -1.4, 1.9, -1.84, -1.12, -0.64]] + +hello: [hello1, hello2, hello1, hello2, side] + +wave1: [[-1.5, 0, 0, 0, 0, 0, 0]] +wave2: [[-1.5, 0.3, 0, -1, 0, 0.7, 0]] +wave3: [[-1.5, -0.3, 0, 1, 0, -0.7, 0]] + +wave_demo: [side,home,wave1,wave2,wave3,wave2,wave1,home,side] \ No newline at end of file diff --git a/cob_default_robot_config/cob4-2/arm_right_joint_configurations.yaml b/cob_default_robot_config/cob4-2/arm_right_joint_configurations.yaml index 49596b4e1..c337426c0 100644 --- a/cob_default_robot_config/cob4-2/arm_right_joint_configurations.yaml +++ b/cob_default_robot_config/cob4-2/arm_right_joint_configurations.yaml @@ -8,3 +8,16 @@ home: [[0,0,0,0,0,0,0]] folded: [[0.9599, 1.5708, -0.1200, 1.0000, 1.3800, 0.7500, -1.3600]] side: [[0.9599, 1.6581, -1.0472, -1.6581, -1.0472, -0.6981, 1.0700]] ship: [[0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0]] + +hello1: [[1.69,1.19,-0.48,-2.09,-0.34,0.16,0.12]] +hello2 : [[1.69, 1.19, -0.48, -2.61, -0.34, -0.38, -0.5]] +arm_to_tray : [[-1.06, -1.2, 1.4, -1.9, 1.84, 1.12, 0.64]] +show_gripper : [[1.76, 1.29, -1.53, -1.88, 0.0, 0.0, 0.0]] + +hello: [hello1, hello2, hello1, hello2, side] + +wave1: [[1.5, 0, 0, 0, 0, 0, 0]] +wave2: [[1.5, 0.3, 0, -1, 0, 0.7, 0]] +wave3: [[1.5, -0.3, 0, 1, 0, -0.7, 0]] + +wave_demo: [side,home,wave1,wave2,wave3,wave2,wave1,home,side] \ No newline at end of file diff --git a/cob_default_robot_config/cob4-2/behavior.yaml b/cob_default_robot_config/cob4-2/behavior.yaml new file mode 100644 index 000000000..b9d36852d --- /dev/null +++ b/cob_default_robot_config/cob4-2/behavior.yaml @@ -0,0 +1 @@ +service_ns: /behavior diff --git a/cob_default_robot_config/cob4-2/command_gui_buttons.yaml b/cob_default_robot_config/cob4-2/command_gui_buttons.yaml index 3e7b227b4..874de7974 100644 --- a/cob_default_robot_config/cob4-2/command_gui_buttons.yaml +++ b/cob_default_robot_config/cob4-2/command_gui_buttons.yaml @@ -4,20 +4,13 @@ # buttons: [[button_name1,function_name1,parameter_name2, # [button_name2,function_name2,parameter_name2]] -group1: +group10: group_name: base component_name: base buttons: [[stop,stop,omni], [init,trigger,init], [recover,trigger,recover]] -#group2: -# group_name: torso -# component_name: torso -# buttons: [[stop,trigger,stop], -# [init,trigger,init], -# [recover,trigger,recover], -# [home,move,home]] -group4: +group11: group_name: sensorring component_name: sensorring buttons: [[stop,stop], @@ -27,7 +20,7 @@ group4: [back,move,back], [left,move,left], [right,move,right]] -group5: +group12: group_name: arm_left component_name: arm_left buttons: [[stop,stop], @@ -35,8 +28,11 @@ group5: [recover,recover], [home,move,home], [folded,move,folded], - [side, move, side]] -group6: + [side, move, side], + [ship, move, ship], + [wave_demo, move, wave_demo], + [hello, move, hello]] +group13: group_name: arm_right component_name: arm_right buttons: [[stop,stop], @@ -44,20 +40,62 @@ group6: [recover,recover], [home,move,home], [folded,move,folded], - [side, move, side]] -group7: - group_name: gripper_left - component_name: gripper_left - buttons: [[stop,stop], - [recover,recover], - [home,move,home], - [open,move,open], - [close, move, close]] -group8: - group_name: gripper_right - component_name: gripper_right - buttons: [[stop,stop], - [recover,recover], - [home,move,home], - [open,move,open], - [close, move, close]] + [side, move, side], + [ship, move, ship], + [wave_demo, move, wave_demo], + [hello, move, hello]] +#group14: +# group_name: gripper_left +# component_name: gripper_left +# buttons: [[stop,stop], +# [recover,recover], +# [home,move,home], +# [open,move,open], +# [close, move, close]] +#group15: +# group_name: gripper_right +# component_name: gripper_right +# buttons: [[stop,stop], +# [recover,recover], +# [home,move,home], +# [open,move,open], +# [close, move, close]] +group16: + group_name: torso + component_name: torso + buttons: [[stop,trigger,stop], + [init,trigger,init], + [recover,trigger,recover], + [home,move,home]] +group17: + group_name: torso + component_name: behavior + buttons: [[torso_front,trigger,torso_front], + [torso_front_home,trigger,torso_front_home], + [pick,trigger,pick]] +group21: + group_name: mimic + component_name: behavior + buttons: [[laughing,trigger,setMimicLaughing], + [asking,trigger,setMimicAsking], + [SayYes,trigger,setMimicYes], + [blinkingRight,trigger,setMimicBlinkingRight], + [confused,trigger,setMimicConfused], + [angry,trigger,setMimicAngry], + [sleep,trigger,setMimicFallingAsleep]] +group22: + group_name: light + component_name: behavior + buttons: [[cyanBreath,trigger,setLightCyanBreath], + [cyan,trigger,setLightCyan], + [red,trigger,setLightRed], + [green,trigger,setLightGreen], + [cyanSweep,trigger,setLightCyanSweep]] +group23: + group_name: sound + component_name: behavior + buttons: [[playSound,trigger,playSound], + [noConnection,trigger,soundNoConnection], + [negative,trigger,soundNegative], + [starting,trigger,soundStarting], + [hello,trigger,soundHello]] diff --git a/cob_default_robot_config/cob4-2/sound.yaml b/cob_default_robot_config/cob4-2/sound.yaml new file mode 100644 index 000000000..476e26da6 --- /dev/null +++ b/cob_default_robot_config/cob4-2/sound.yaml @@ -0,0 +1 @@ +audio_file_path: /u/robot/sounds diff --git a/cob_default_robot_config/cob4-2/torso_joint_configurations.yaml b/cob_default_robot_config/cob4-2/torso_joint_configurations.yaml index ef9bb7174..c9d9f50a0 100644 --- a/cob_default_robot_config/cob4-2/torso_joint_configurations.yaml +++ b/cob_default_robot_config/cob4-2/torso_joint_configurations.yaml @@ -3,6 +3,6 @@ action_name: /torso/joint_trajectory_controller/follow_joint_trajectory service_ns: /torso/driver default_vel: 0.4 -home: [[0.0, 0.0]] +home: [[0.0,0.0]] front: [[-3.14,1.57]] back : [[3.14,-1.57]] diff --git a/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch b/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch index 23d964202..e27c6ec92 100644 --- a/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch +++ b/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch @@ -12,5 +12,7 @@ + + diff --git a/cob_hardware_config/cob4-2/config/base_controller.yaml b/cob_hardware_config/cob4-2/config/base_controller.yaml index 0e2b5fec7..2b449c577 100644 --- a/cob_hardware_config/cob4-2/config/base_controller.yaml +++ b/cob_hardware_config/cob4-2/config/base_controller.yaml @@ -35,3 +35,14 @@ odometry_controller: type: cob_omni_drive_controller/OdometryController publish_rate: 50 wheels: *wheels + +joint_group_velocity_controller: + type: velocity_controllers/JointGroupVelocityController + joints: + - fl_caster_rotation_joint + - fl_caster_r_wheel_joint + - bl_caster_rotation_joint + - bl_caster_r_wheel_joint + - br_caster_rotation_joint + - br_caster_r_wheel_joint + required_drive_mode: 2 diff --git a/cob_hardware_config/cob4-2/config/diagnostics_analyzers.yaml b/cob_hardware_config/cob4-2/config/diagnostics_analyzers.yaml index 4029ac036..6473160ef 100644 --- a/cob_hardware_config/cob4-2/config/diagnostics_analyzers.yaml +++ b/cob_hardware_config/cob4-2/config/diagnostics_analyzers.yaml @@ -80,19 +80,19 @@ analyzers: torso: type: diagnostic_aggregator/GenericAnalyzer path: Torso - contains: 'torso' + contains: 'torso_driver' sensorring: type: diagnostic_aggregator/GenericAnalyzer path: Sensorring - contains: 'sensorring' + contains: 'sensorring_driver' arm_right: type: diagnostic_aggregator/GenericAnalyzer path: Arm Right - contains: 'arm_right' + contains: 'arm_right_driver' arm_left: type: diagnostic_aggregator/GenericAnalyzer path: Arm Left - contains: 'arm_left' + contains: 'arm_left_driver' base: type: diagnostic_aggregator/GenericAnalyzer path: Base diff --git a/cob_hardware_config/cob4-2/config/teleop.yaml b/cob_hardware_config/cob4-2/config/teleop.yaml index 7a1cc0488..998417043 100644 --- a/cob_hardware_config/cob4-2/config/teleop.yaml +++ b/cob_hardware_config/cob4-2/config/teleop.yaml @@ -6,7 +6,7 @@ joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 4 mode_switch_button: 8 -light_topic_name: /light_torso/light +light_action_name: /light_torso/set_light # axes axis_vx: 1 diff --git a/cob_hardware_config/cob4-4/cob4-4.rviz b/cob_hardware_config/cob4-4/cob4-4.rviz new file mode 120000 index 000000000..565746e47 --- /dev/null +++ b/cob_hardware_config/cob4-4/cob4-4.rviz @@ -0,0 +1 @@ +../common/cob4_base.rviz \ No newline at end of file diff --git a/cob_hardware_config/cob4-4/config/Elmo.dcf b/cob_hardware_config/cob4-4/config/Elmo.dcf deleted file mode 100644 index a09efd8db..000000000 --- a/cob_hardware_config/cob4-4/config/Elmo.dcf +++ /dev/null @@ -1,4502 +0,0 @@ -[FileInfo] -CreatedBy=Vladyslav Nechayev -ModifiedBy=Vladyslav Nechayev -Description=Elmo Gold drive EDS file -CreationTime=07:53AM -CreationDate=05-11-2014 -ModificationTime=07:53AM -ModificationDate=05-11-2014 -FileName=CANeds Gold V002.eds -FileVersion=002 -FileRevision=01 -EDSVersion=4.0 - -[DeviceInfo] -VendorName=Elmo Motion Control -VendorNumber=0x0000009A -ProductName=Gold Drive -ProductNumber=0x00030923 -RevisionNumber=0x000103F6 -OrderCode=1 -BaudRate_10=0 -BaudRate_20=0 -BaudRate_50=1 -BaudRate_125=1 -BaudRate_250=1 -BaudRate_500=1 -BaudRate_800=0 -BaudRate_1000=1 -SimpleBootUpMaster=0 -SimpleBootUpSlave=0 -Granularity=8 -DynamicChannelsSupported=0 -CompactPDO=23 -GroupMessaging=0 -NrOfRXPDO=4 -NrOfTXPDO=4 -LSS_Supported=0 - -[DummyUsage] -Dummy0001=0 -Dummy0002=0 -Dummy0003=0 -Dummy0004=0 -Dummy0005=1 -Dummy0006=0 -Dummy0007=0 - -[Comments] -Lines=7 -Line1=CANeds Gold V001.eds29/10/2013 -Line2=First release -Line3= -Line4=CANeds Gold V002.eds 11/05/2014 -Line5=1. Added 100K baud to Device Information -Line6=2. 6089,608A,608B,608D, 6093, 6094, 6095 were removed: not in use -Line7=3. 6075, 6076, 603F 60C4 sub 6, 60FD default values were modified to 0. - -[MandatoryObjects] -SupportedObjects=3 -1=0x1000 -2=0x1001 -3=0x1018 - -[1000] -ParameterName=Device Type -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0x192 -PDOMapping=0 - -[1001] -ParameterName=Error Register -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1018] -ParameterName=Identity Object -ObjectType=0x9 -SubNumber=5 - -[1018sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=4 -PDOMapping=0 -LowLimit=1 -HighLimit=4 - -[1018sub1] -ParameterName=Vendor Id -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0x0000009A -PDOMapping=0 - -[1018sub2] -ParameterName=Product Code -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=0 - -[1018sub3] -ParameterName=Revision number -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=0 - -[1018sub4] -ParameterName=Serial number -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=0 - -[OptionalObjects] -SupportedObjects=119 -1=0x1002 -2=0x1003 -3=0x1006 -4=0x1008 -5=0x1009 -6=0x100A -7=0x100B -8=0x1010 -9=0x1011 -10=0x1014 -11=0x1016 -12=0x1017 -13=0x1023 -14=0x1024 -15=0x1029 -16=0x1400 -17=0x1401 -18=0x1402 -19=0x1403 -20=0x1600 -21=0x1601 -22=0x1602 -23=0x1603 -24=0x1800 -25=0x1801 -26=0x1802 -27=0x1803 -28=0x1A00 -29=0x1A01 -30=0x1A02 -31=0x1A03 -32=0x6007 -33=0x603F -34=0x6040 -35=0x6041 -36=0x605A -37=0x605B -38=0x605C -39=0x605D -40=0x605E -41=0x6060 -42=0x6061 -43=0x6062 -44=0x6063 -45=0x6064 -46=0x6065 -47=0x6066 -48=0x6067 -49=0x6068 -50=0x6069 -51=0x606A -52=0x606B -53=0x606C -54=0x606D -55=0x606E -56=0x606F -57=0x6070 -58=0x6071 -59=0x6072 -60=0x6073 -61=0x6074 -62=0x6075 -63=0x6076 -64=0x6077 -65=0x6078 -66=0x6079 -67=0x607A -68=0x607B -69=0x607C -70=0x607D -71=0x607E -72=0x607F -73=0x6080 -74=0x6081 -75=0x6082 -76=0x6083 -77=0x6084 -78=0x6085 -79=0x6086 -80=0x6087 -81=0x608C -82=0x608E -83=0x608F -84=0x6090 -85=0x6091 -86=0x6092 -87=0x6096 -88=0x6097 -89=0x6098 -90=0x6099 -91=0x609A -92=0x60B0 -93=0x60B1 -94=0x60B2 -95=0x60B8 -96=0x60B9 -97=0x60BA -98=0x60BB -99=0x60BC -100=0x60BD -101=0x60C0 -102=0x60C1 -103=0x60C2 -104=0x60C4 -105=0x60C5 -106=0x60C6 -107=0x60E0 -108=0x60E1 -109=0x60E3 -110=0x60E4 -111=0x60E5 -112=0x60F2 -113=0x60F4 -114=0x60FA -115=0x60FC -116=0x60FD -117=0x60FE -118=0x60FF -119=0x6502 - -[1002] -ParameterName=Manufacturer Status Register -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=0 - -[1003] -ParameterName=Predefined Error Field -ObjectType=0x8 -SubNumber=17 - -[1003sub0] -ParameterName=Number of Errors -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[1003sub1] -ParameterName=Standard Error Field -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub2] -ParameterName=Standard Error Field_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub3] -ParameterName=Standard Error Field_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub4] -ParameterName=Standard Error Field_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub5] -ParameterName=Standard Error Field_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub6] -ParameterName=Standard Error Field_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub7] -ParameterName=Standard Error Field_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub8] -ParameterName=Standard Error Field_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub9] -ParameterName=Standard Error Field_9 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subA] -ParameterName=Standard Error Field_a -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subB] -ParameterName=Standard Error Field_b -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subC] -ParameterName=Standard Error Field_c -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subD] -ParameterName=Standard Error Field_d -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subE] -ParameterName=Standard Error Field_e -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003subF] -ParameterName=Standard Error Field_f -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1003sub10] -ParameterName=Standard Error Field_10 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[1006] -ParameterName=Communication Cycle Period -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[1008] -ParameterName=Manufacturer Device Name -ObjectType=0x7 -DataType=0x0009 -AccessType=const -PDOMapping=0 - -[1009] -ParameterName=Manufacturer Hardware Version -ObjectType=0x7 -DataType=0x0009 -AccessType=const -PDOMapping=0 - -[100A] -ParameterName=Manufacturer Software Version -ObjectType=0x7 -DataType=0x0009 -AccessType=const -PDOMapping=0 - -[100B] -ParameterName=CAN Open Node ID -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 -LowLimit=1 -HighLimit=127 - -[1010] -ParameterName=Store Parameters -ObjectType=0x8 -SubNumber=2 - -[1010sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=0x0 -HighLimit=0x7F - -[1010sub1] -ParameterName=Save all Parameters -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1011] -ParameterName=Restore Default Parameters -ObjectType=0x8 -SubNumber=2 - -[1011sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=0x0 -HighLimit=0x7F - -[1011sub1] -ParameterName=Restore all Default Parameters -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1014] -ParameterName=COB ID EMCY -ObjectType=0x7 -DataType=0x0007 -AccessType=const -DefaultValue=$NODEID+0x80 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF - -[1016] -ParameterName=Consumer Heartbeat Time -ObjectType=0x8 -SubNumber=3 - -[1016sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0x1 -HighLimit=0x2 - -[1016sub1] -ParameterName=Consumer Heartbeat Time -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1016sub2] -ParameterName=Consumer Heartbeat Time_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1017] -ParameterName=Producer Heartbeat Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1023] -ParameterName=OS Command -ObjectType=0x9 -SubNumber=4 - -[1023sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=3 -PDOMapping=0 -LowLimit=1 -HighLimit=3 - -[1023sub1] -ParameterName=Command -ObjectType=0x7 -DataType=0x000a -AccessType=wo -PDOMapping=0 - -[1023sub2] -ParameterName=Status -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=255 - -[1023sub3] -ParameterName=Reply -ObjectType=0x7 -DataType=0x000a -AccessType=ro -PDOMapping=0 - -[1024] -ParameterName=OS Command Mode -ObjectType=0x7 -DataType=0x0005 -AccessType=wo -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=3 - -[1029] -ParameterName=Error behaviour -ObjectType=0x8 -SubNumber=2 - -[1029sub0] -ParameterName=Nr of Error Classes -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=1 -PDOMapping=0 - -[1029sub1] -ParameterName=Communication Error -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[1400] -ParameterName=Receive PDO Communication Parameter 0 -ObjectType=0x9 -SubNumber=3 - -[1400sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1400sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x200 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF -ParameterValue=$NODEID+0x200 - -[1400sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -ParameterValue=0x1 - -[1401] -ParameterName=Receive PDO Communication Parameter 1 -ObjectType=0x9 -SubNumber=3 - -[1401sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1401sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x300 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF - -[1401sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 - -[1402] -ParameterName=Receive PDO Communication Parameter 2 -ObjectType=0x9 -SubNumber=3 - -[1402sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1402sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x400 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF -ParameterValue=$NODEID+0x400 - -[1402sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -ParameterValue=0x1 - -[1403] -ParameterName=Receive PDO Communication Parameter 3 -ObjectType=0x9 -SubNumber=3 - -[1403sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1403sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x500 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF -ParameterValue=$NODEID+0x500 - -[1403sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -ParameterValue=0x1 - -[1600] -ParameterName=Receive PDO Mapping Parameter 0 -ObjectType=0x9 -SubNumber=9 - -[1600sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 -ParameterValue=2 - -[1600sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x60400010 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF -ParameterValue=0x60400010 - -[1600sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60600008 - -[1600sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1600sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1600sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1600sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1600sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1600sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601] -ParameterName=Receive PDO Mapping Parameter 1 -ObjectType=0x9 -SubNumber=9 - -[1601sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 - -[1601sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x20120020 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[1601sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1601sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602] -ParameterName=Receive PDO Mapping Parameter 2 -ObjectType=0x9 -SubNumber=9 - -[1602sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 -ParameterValue=2 - -[1602sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x607a0020 - -[1602sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60ff0020 - -[1602sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1602sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603] -ParameterName=Receive PDO Mapping Parameter 3 -ObjectType=0x9 -SubNumber=9 - -[1603sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 -ParameterValue=2 - -[1603sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60c10120 - -[1603sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60c10220 - -[1603sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1603sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1800] -ParameterName=Transmit PDO Communication Parameter 0 -ObjectType=0x9 -SubNumber=6 - -[1800sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=5 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1800sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x180 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF -ParameterValue=$NODEID+0x180 - -[1800sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -LowLimit=0 -HighLimit=255 -ParameterValue=0x1 - -[1800sub3] -ParameterName=Inhibit Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0x0000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1800sub4] -ParameterName=Reserved -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 - -[1800sub5] -ParameterName=Event Timer -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1801] -ParameterName=Transmit PDO Communication Parameter 1 -ObjectType=0x9 -SubNumber=6 - -[1801sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=5 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1801sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x280 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF - -[1801sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[1801sub3] -ParameterName=Inhibit Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0x0000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1801sub4] -ParameterName=Reserved -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 - -[1801sub5] -ParameterName=Event Timer -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1802] -ParameterName=Transmit PDO Communication Parameter 2 -ObjectType=0x9 -SubNumber=6 - -[1802sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=5 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1802sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x380 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF -ParameterValue=$NODEID+0x380 - -[1802sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -LowLimit=0 -HighLimit=255 -ParameterValue=0x1 - -[1802sub3] -ParameterName=Inhibit Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0x0000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1802sub4] -ParameterName=Reserved -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 - -[1802sub5] -ParameterName=Event Timer -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1803] -ParameterName=Transmit PDO Communication Parameter 3 -ObjectType=0x9 -SubNumber=6 - -[1803sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=5 -PDOMapping=0 -LowLimit=0x02 -HighLimit=0x05 - -[1803sub1] -ParameterName=COB ID -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=$NODEID+0x480 -PDOMapping=0 -LowLimit=0x00000001 -HighLimit=0xFFFFFFFF - -[1803sub2] -ParameterName=Transmission Type -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=255 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[1803sub3] -ParameterName=Inhibit Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0x0000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1803sub4] -ParameterName=Reserved -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 - -[1803sub5] -ParameterName=Event Timer -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[1A00] -ParameterName=Transmit PDO Mapping Parameter 0 -ObjectType=0x9 -SubNumber=9 - -[1A00sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 -ParameterValue=2 - -[1A00sub1] -ParameterName=Status Word -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x60410010 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF -ParameterValue=0x60410010 - -[1A00sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60610008 - -[1A00sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A00sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A00sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A00sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A00sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A00sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01] -ParameterName=Transmit PDO Mapping Parameter 1 -ObjectType=0x9 -SubNumber=9 - -[1A01sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 - -[1A01sub1] -ParameterName=Binary Interpreter Output -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x20130040 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[1A01sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A01sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02] -ParameterName=Transmit PDO Mapping Parameter 2 -ObjectType=0x9 -SubNumber=9 - -[1A02sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 -ParameterValue=2 - -[1A02sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x60640020 - -[1A02sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -ParameterValue=0x606c0020 - -[1A02sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A02sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03] -ParameterName=Transmit PDO Mapping Parameter 3 -ObjectType=0x9 -SubNumber=9 - -[1A03sub0] -ParameterName=Number of entries -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=8 - -[1A03sub1] -ParameterName=PDO Mapping Entry -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub2] -ParameterName=PDO Mapping Entry_2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub3] -ParameterName=PDO Mapping Entry_3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub4] -ParameterName=PDO Mapping Entry_4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub5] -ParameterName=PDO Mapping Entry_5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub6] -ParameterName=PDO Mapping Entry_6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub7] -ParameterName=PDO Mapping Entry_7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[1A03sub8] -ParameterName=PDO Mapping Entry_8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[6007] -ParameterName=abort_connection_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=3 - -[603F] -ParameterName=error_code -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6040] -ParameterName=controlword -ObjectType=0x7 -DataType=0x0006 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFF - -[6041] -ParameterName=statusword -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFF - -[605A] -ParameterName=quick_stop_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=2 -PDOMapping=0 -LowLimit=-32768 -HighLimit=8 - -[605B] -ParameterName=shutdown_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[605C] -ParameterName=disable_operation_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[605D] -ParameterName=halt_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=2 -PDOMapping=0 -LowLimit=1 -HighLimit=2 - -[605E] -ParameterName=fault_reaction_option_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=2 -PDOMapping=0 -LowLimit=0 -HighLimit=2 - -[6060] -ParameterName=modes_of_operation -ObjectType=0x7 -DataType=0x0002 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-128 -HighLimit=10 - -[6061] -ParameterName=modes_of_operation_display -ObjectType=0x7 -DataType=0x0002 -AccessType=ro -PDOMapping=1 -LowLimit=0 -HighLimit=10 - -[6062] -ParameterName=position_demand_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[6063] -ParameterName=position_actual_internal_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[6064] -ParameterName=position_actual_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[6065] -ParameterName=following_error_window -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6066] -ParameterName=following_error_time_out -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=20 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6067] -ParameterName=position_window -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=100 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6068] -ParameterName=position_window_time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=20 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6069] -ParameterName=velocity_sensor_actual_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[606A] -ParameterName=sensor_selection_code -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[606B] -ParameterName=velocity_demand_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[606C] -ParameterName=velocity_actual_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[606D] -ParameterName=velocity_window -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=100 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[606E] -ParameterName=velocity_window_time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=20 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[606F] -ParameterName=velocity_threshold -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=100 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6070] -ParameterName=velocity_threshold_time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=20 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6071] -ParameterName=target_torque -ObjectType=0x7 -DataType=0x0003 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-32768 -HighLimit=32767 - -[6072] -ParameterName=max_torque -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=50000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6073] -ParameterName=max_current -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=50000 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[6074] -ParameterName=torque_demand -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-32768 -HighLimit=32767 - -[6075] -ParameterName=motor_rated_current -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6076] -ParameterName=motor_rated_torque -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6077] -ParameterName=torque_actual_value -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-32768 -HighLimit=32767 - -[6078] -ParameterName=current_actual_value -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-32768 -HighLimit=32767 - -[6079] -ParameterName=dc_link_circuit_voltage -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[607A] -ParameterName=target_position -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607B] -ParameterName=position_range_limit -ObjectType=0x8 -SubNumber=3 - -[607Bsub0] -ParameterName=position_range_limit_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[607Bsub1] -ParameterName=position_range_limit_min -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=-1000000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607Bsub2] -ParameterName=position_range_limit_max -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=1000000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607C] -ParameterName=home_offset -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607D] -ParameterName=software_position_limit -ObjectType=0x8 -SubNumber=3 - -[607Dsub0] -ParameterName=software_position_limit_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[607Dsub1] -ParameterName=software_position_limit_min -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=-900000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607Dsub2] -ParameterName=software_position_limit_max -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=900000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[607E] -ParameterName=polarity -ObjectType=0x7 -DataType=0x0005 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=255 - -[607F] -ParameterName=max_profile_velocity -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=2000000000 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6080] -ParameterName=max_motor_speed -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0xFFFFFFFF -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6081] -ParameterName=profile_velocity -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=2000000000 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6082] -ParameterName=end_velocity -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6083] -ParameterName=profile_acceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=2000000000 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6084] -ParameterName=profile_deceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=2000000000 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6085] -ParameterName=quick_stop_deceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=2000000000 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6086] -ParameterName=motion_profile_type -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-32768 -HighLimit=0 - -[6087] -ParameterName=torque_slope -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=10000000 -PDOMapping=1 -LowLimit=0 -HighLimit=10000000 - -[608C] -ParameterName=Velocity Dimension Index -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[608E] -ParameterName=Acceleration Dimension Index -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[608F] -ParameterName=position_encoder_resolution -ObjectType=0x8 -SubNumber=3 - -[608Fsub0] -ParameterName=position_encoder_resolution_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 -LowLimit=2 -HighLimit=2 - -[608Fsub1] -ParameterName=encoder_increments -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[608Fsub2] -ParameterName=motor_revolutions -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6090] -ParameterName=velocity_encoder_resolution -ObjectType=0x8 -SubNumber=3 - -[6090sub0] -ParameterName=velocity_encoder_resolution_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 -LowLimit=2 -HighLimit=2 - -[6090sub1] -ParameterName=encoder_increments_per_second -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6090sub2] -ParameterName=motor_revolutions_per_second -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6091] -ParameterName=gear_ratio -ObjectType=0x8 -SubNumber=3 - -[6091sub0] -ParameterName=gear_ratio_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 -LowLimit=0 -HighLimit=2 - -[6091sub1] -ParameterName=gear_ratio_motor_revolutions -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6091sub2] -ParameterName=gear_ratio_shaft_revolutions -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6092] -ParameterName=feed_constant -ObjectType=0x8 -SubNumber=3 - -[6092sub0] -ParameterName=feed_constant_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[6092sub1] -ParameterName=feed_constant_feed -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[6092sub2] -ParameterName=feed_constant_shaft_revolutions -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=0xFFFFFFFF - -[6096] -ParameterName=Velocity Factor -ObjectType=0x8 -SubNumber=3 - -[6096sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 - -[6096sub1] -ParameterName=Velocity Factor_Numerator -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=0xFFFFFFFF - -[6096sub2] -ParameterName=Velocity Factor_Divisor -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=0xFFFFFFFF - -[6097] -ParameterName=Acceleration Factor -ObjectType=0x8 -SubNumber=3 - -[6097sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 - -[6097sub1] -ParameterName=Acceleration Factor_sub1 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=0xFFFFFFFF - -[6097sub2] -ParameterName=Acceleration Factor_sub2 -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=0xFFFFFFFF - -[6098] -ParameterName=homing_method -ObjectType=0x7 -DataType=0x0002 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-128 -HighLimit=35 -ParameterValue=35 - -[6099] -ParameterName=homing_speeds -ObjectType=0x8 -SubNumber=3 - -[6099sub0] -ParameterName=homing_speeds_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[6099sub1] -ParameterName=homing_speeds_speed_during_search_for_switch -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -ParameterValue=100000 -HighLimit=0xFFFFFFFF - -[6099sub2] -ParameterName=homing_speeds_speed_during_search_for_zero -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -ParameterValue=10000 -HighLimit=0xFFFFFFFF - -[609A] -ParameterName=homing_acceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60B0] -ParameterName=position_offset -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60B1] -ParameterName=velocity_offset -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60B2] -ParameterName=torque_offset -ObjectType=0x7 -DataType=0x0003 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-32768 -HighLimit=32767 - -[60B8] -ParameterName=touch_probe_function -ObjectType=0x7 -DataType=0x0006 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=65535 - -[60B9] -ParameterName=touch_probe_status -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=65535 - -[60BA] -ParameterName=touch_probe_1_pos_edge -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60BB] -ParameterName=touch_probe_1_neg_edge -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60BC] -ParameterName=touch_probe_2_pos_edge -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60BD] -ParameterName=touch_probe_2_neg_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60C0] -ParameterName=interpolation_sub_mode_select -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-1 -HighLimit=0 - -[60C1] -ParameterName=interpolation_data_record -ObjectType=0x8 -SubNumber=3 - -[60C1sub0] -ParameterName=interpolation_data_record_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[60C1sub1] -ParameterName=interpolation_data_record_setpoint_1 -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60C1sub2] -ParameterName=interpolation_data_record_setpoint_2 -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60C2] -ParameterName=interpolation_time_period -ObjectType=0x9 -SubNumber=3 - -[60C2sub0] -ParameterName=interpolation_time_period_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[60C2sub1] -ParameterName=interpolation_time_period_value -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=1 -ParameterValue=10 -PDOMapping=0 -LowLimit=1 -HighLimit=255 - -[60C2sub2] -ParameterName=interpolation_time_period_index -ObjectType=0x7 -DataType=0x0002 -AccessType=rw -DefaultValue=-3 -PDOMapping=0 -LowLimit=-6 -HighLimit=-2 - -[60C4] -ParameterName=interpolation_data_configuration -ObjectType=0x9 -SubNumber=7 - -[60C4sub0] -ParameterName=interpolation_data_configuration_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=6 -PDOMapping=0 -LowLimit=6 -HighLimit=6 - -[60C4sub1] -ParameterName=interpolation_data_configuration_maximum_buffer_size -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=16 - -[60C4sub2] -ParameterName=interpolation_data_configuration_actual_buffer_size -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=16 - -[60C4sub3] -ParameterName=interpolation_data_configuration_buffer_organization -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[60C4sub4] -ParameterName=interpolation_data_configuration_buffer_position -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=15 - -[60C4sub5] -ParameterName=interpolation_data_configuration_size_of_data_record -ObjectType=0x7 -DataType=0x0005 -AccessType=rw -DefaultValue=4 -PDOMapping=0 -LowLimit=4 -HighLimit=8 - -[60C4sub6] -ParameterName=interpolation_data_configuration_buffer_clear -ObjectType=0x7 -DataType=0x0005 -AccessType=wo -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[60C5] -ParameterName=max_acceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=2000000000 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60C6] -ParameterName=max_deceleration -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=2000000000 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60E0] -ParameterName=Positive Torque Limit Value -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=50000 -PDOMapping=0 -LowLimit=0 -HighLimit=50000 - -[60E1] -ParameterName=Negative Torque Limit Value -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=50000 -PDOMapping=0 -LowLimit=0 -HighLimit=50000 - -[60E3] -ParameterName=Supported Homing Methods -ObjectType=0x8 -SubNumber=34 - -[60E3sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=33 -PDOMapping=0 - -[60E3sub1] -ParameterName=Object 60E3_sub1 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub2] -ParameterName=Object 60E3_sub2 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub3] -ParameterName=Object 60E3_sub3 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub4] -ParameterName=Object 60E3_sub4 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub5] -ParameterName=Object 60E3_sub5 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub6] -ParameterName=Object 60E3_sub6 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub7] -ParameterName=Object 60E3_sub7 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub8] -ParameterName=Object 60E3_sub8 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub9] -ParameterName=Object 60E3_sub9 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subA] -ParameterName=Object 60E3_subA -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subB] -ParameterName=Object 60E3_subB -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subC] -ParameterName=Object 60E3_subC -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subD] -ParameterName=Object 60E3_subD -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subE] -ParameterName=Object 60E3_subE -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3subF] -ParameterName=Object 60E3_subF -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub10] -ParameterName=Object 60E3_sub10 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub11] -ParameterName=Object 60E3_sub11 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub12] -ParameterName=Object 60E3_sub12 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub13] -ParameterName=Object 60E3_sub13 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub14] -ParameterName=Object 60E3_sub14 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub15] -ParameterName=Object 60E3_sub15 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub16] -ParameterName=Object 60E3_sub16 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub17] -ParameterName=Object 60E3_sub17 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub18] -ParameterName=Object 60E3_sub18 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub19] -ParameterName=Object 60E3_sub19 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1A] -ParameterName=Object 60E3_sub1A -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1B] -ParameterName=Object 60E3_sub1B -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1C] -ParameterName=Object 60E3_sub1C -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1D] -ParameterName=Object 60E3_sub1D -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1E] -ParameterName=Object 60E3_sub1E -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub1F] -ParameterName=Object 60E3_sub1F -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub20] -ParameterName=Object 60E3_sub20 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E3sub21] -ParameterName=Object 60E3_sub21 -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=0 - -[60E4] -ParameterName=Additional Position Actual Value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60E5] -ParameterName=Additional Velocity Actual Value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60F2] -ParameterName=positioning_option_code -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -PDOMapping=0 - -[60F4] -ParameterName=following_error_actual_value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60FA] -ParameterName=Control Effort -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60FC] -ParameterName=Position Demand Internal Value -ObjectType=0x7 -DataType=0x0004 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[60FD] -ParameterName=digital_inputs -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60FE] -ParameterName=digital_outputs -ObjectType=0x8 -SubNumber=3 - -[60FEsub0] -ParameterName=digital_outputs_highest_subindex -ObjectType=0x7 -DataType=0x0005 -AccessType=const -DefaultValue=2 -PDOMapping=0 - -[60FEsub1] -ParameterName=digital_outputs_physical_outputs -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60FEsub2] -ParameterName=digital_outputs_bit_mask -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[60FF] -ParameterName=target_velocity -ObjectType=0x7 -DataType=0x0004 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[6502] -ParameterName=supported_drive_modes -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=0 - -[ManufacturerObjects] -SupportedObjects=44 -1=0x2005 -2=0x2012 -3=0x2013 -4=0x2020 -5=0x2030 -6=0x2035 -7=0x2036 -8=0x2041 -9=0x2045 -10=0x2051 -11=0x2060 -12=0x207B -13=0x2081 -14=0x2082 -15=0x2085 -16=0x2086 -17=0x2087 -18=0x2090 -19=0x20A0 -20=0x20B0 -21=0x20FC -22=0x20FD -23=0x2201 -24=0x2202 -25=0x2203 -26=0x2205 -27=0x2206 -28=0x22A0 -29=0x22A1 -30=0x22A2 -31=0x22A3 -32=0x2E06 -33=0x2E07 -34=0x2E10 -35=0x2E15 -36=0x2F00 -37=0x2F01 -38=0x2F05 -39=0x2F20 -40=0x2F21 -41=0x2F41 -42=0x2F45 -43=0x2F70 -44=0x2F75 - -[2005] -ParameterName=Fast Reference -ObjectType=0x7 -DataType=0x0004 -AccessType=rwr -PDOMapping=1 - -[2012] -ParameterName=Binary Interpreter Input -ObjectType=0x7 -DataType=0x001b -AccessType=wo -PDOMapping=1 - -[2013] -ParameterName=Binary Interpreter Output -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=1 - -[2020] -ParameterName=Home Block Limit Parameters -ObjectType=0x9 -SubNumber=6 - -[2020sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=5 -PDOMapping=0 - -[2020sub1] -ParameterName=Torque Limit -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2020sub2] -ParameterName=Time Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2020sub3] -ParameterName=Distance Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2020sub4] -ParameterName=Detection Velocity Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2020sub5] -ParameterName=Detection Velocity Time Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2030] -ParameterName=Upload Recording Data -ObjectType=0x9 -SubNumber=17 - -[2030sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=16 -PDOMapping=0 - -[2030sub1] -ParameterName=Main Speed -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub2] -ParameterName=Main Position -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub3] -ParameterName=Position Command -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub4] -ParameterName=Digital Input -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub5] -ParameterName=Position Error -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub6] -ParameterName=Torque Command -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub7] -ParameterName=Bus Voltage -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub8] -ParameterName=Velocity Command -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub9] -ParameterName=Field Angle -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subA] -ParameterName=Active Current -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subB] -ParameterName=Reactive Current -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subC] -ParameterName=Analog Input 1 -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subD] -ParameterName=Analog Input 2 -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subE] -ParameterName=Current Phase A -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030subF] -ParameterName=Current Phase B -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2030sub10] -ParameterName=Current Phase C -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2035] -ParameterName=Upload Data Parameters -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[2036] -ParameterName=Upload Data -ObjectType=0x7 -DataType=0x001b -AccessType=ro -PDOMapping=0 - -[2041] -ParameterName=Timestamp -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=1 - -[2045] -ParameterName=Block upload inhibit time parameter -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2051] -ParameterName=Download Data -ObjectType=0x7 -DataType=0x001b -AccessType=wo -PDOMapping=0 - -[2060] -ParameterName=Drive Parameters Checksum -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[207B] -ParameterName=Additional Position Range Limit -ObjectType=0x8 -SubNumber=3 - -[207Bsub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 - -[207Bsub1] -ParameterName=Min additional position range limit -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=-1000000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[207Bsub2] -ParameterName=Max additional position range limit -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=1000000000 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2081] -ParameterName=Extended Error Code -ObjectType=0x8 -SubNumber=7 - -[2081sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=6 -PDOMapping=0 - -[2081sub1] -ParameterName=Feedback Error -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2081sub2] -ParameterName=Profile Initialization Error -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2081sub3] -ParameterName=Download Procedure Error -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2081sub4] -ParameterName=Elmo Error Code of SDO abort -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2081sub5] -ParameterName=Motor Fault Reason -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2081sub6] -ParameterName=ECAM Initialization Error -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2082] -ParameterName=CAN Controller Status -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=1 - -[2085] -ParameterName=Extra Status Register -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -PDOMapping=1 - -[2086] -ParameterName=STO Status Register -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[2087] -ParameterName=PAL Version -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2090] -ParameterName=Firmware Download -ObjectType=0x7 -DataType=0x0007 -AccessType=wo -PDOMapping=0 - -[20A0] -ParameterName=Auxilary Position Actual Value -ObjectType=0x7 -DataType=0x0004 -AccessType=rwr -DefaultValue=0 -PDOMapping=1 -LowLimit=-2147483648 -HighLimit=2147483647 - -[20B0] -ParameterName=Socket Additional Function -ObjectType=0x8 -SubNumber=10 - -[20B0sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=9 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[20B0sub1] -ParameterName=Position Loop Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub2] -ParameterName=Velocity Loop Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub3] -ParameterName=Commutation Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub4] -ParameterName=Position Reference Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub5] -ParameterName=Velocity Reference Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub6] -ParameterName=Current Reference Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub7] -ParameterName=Touch Probe Capturing Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub8] -ParameterName=Homing Reference Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20B0sub9] -ParameterName=Additional Sensor Readout Socket -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=0 -HighLimit=4294967295 - -[20FC] -ParameterName=Absolute Sensor Function -ObjectType=0x8 -SubNumber=3 - -[20FCsub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[20FCsub1] -ParameterName=Reset Multiturn -ObjectType=0x7 -DataType=0x0006 -AccessType=wo -PDOMapping=0 - -[20FCsub2] -ParameterName=Reset Endat Error -ObjectType=0x7 -DataType=0x0006 -AccessType=wo -PDOMapping=0 - -[20FD] -ParameterName=Digital Inputs -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 - -[2201] -ParameterName=Digital Input Low Byte -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -PDOMapping=1 - -[2202] -ParameterName=Extended Input -ObjectType=0x8 -SubNumber=4 - -[2202sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=3 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2202sub1] -ParameterName=Extended Input Value Bits 0_31 -ObjectType=0x7 -DataType=0x0007 -AccessType=rwr -PDOMapping=1 - -[2202sub2] -ParameterName=Logic and Polarity -ObjectType=0x7 -DataType=0x0007 -AccessType=rwr -DefaultValue=0xFFFFFFFF -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2202sub3] -ParameterName=PDO Event Mask -ObjectType=0x7 -DataType=0x0007 -AccessType=rwr -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2203] -ParameterName=Application Object -ObjectType=0x7 -DataType=0x0007 -AccessType=ro -PDOMapping=1 - -[2205] -ParameterName=Analog Input Object -ObjectType=0x8 -SubNumber=3 - -[2205sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 - -[2205sub1] -ParameterName=Analog Input 1 -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -PDOMapping=1 -LowLimit=-10000 -HighLimit=10000 - -[2205sub2] -ParameterName=Analog Input 2 -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -PDOMapping=1 -LowLimit=-10000 -HighLimit=10000 - -[2206] -ParameterName=5V DC Supply -ObjectType=0x7 -DataType=0x0003 -AccessType=ro -PDOMapping=1 - -[22A0] -ParameterName=Digital Outputs -ObjectType=0x7 -DataType=0x0005 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=255 - -[22A1] -ParameterName=Extended Outputs -ObjectType=0x8 -SubNumber=4 - -[22A1sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=3 -PDOMapping=0 - -[22A1sub1] -ParameterName=Extended Output bits 0_31 -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[22A1sub2] -ParameterName=Logic and Polarity -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0xFFFFFFFF -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[22A1sub3] -ParameterName=Extended Outputs Mask -ObjectType=0x7 -DataType=0x0007 -AccessType=rww -DefaultValue=0xFFFFFFFF -PDOMapping=1 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[22A2] -ParameterName=Drive Temperature in C -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=1 -LowLimit=0 -HighLimit=65535 - -[22A3] -ParameterName=Temperature Array -ObjectType=0x8 -SubNumber=4 - -[22A3sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=3 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[22A3sub1] -ParameterName=Drive Temperature in C -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -PDOMapping=0 - -[22A3sub2] -ParameterName=Drive Temperature in F -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -PDOMapping=0 - -[22A3sub3] -ParameterName=Encoder Temperature in C -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -PDOMapping=0 - -[2E06] -ParameterName=Torque Window -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=40 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[2E07] -ParameterName=Torque Window Time -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=20 -PDOMapping=0 -LowLimit=0 -HighLimit=65535 - -[2E10] -ParameterName=Set Home Position Touch Probe -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=1 - -[2E15] -ParameterName=Gantry Yaw Offset -ObjectType=0x7 -DataType=0x0003 -AccessType=rw -PDOMapping=0 - -[2F00] -ParameterName=User Integer Array -ObjectType=0x8 -SubNumber=25 - -[2F00sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=24 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2F00sub1] -ParameterName=User Integer_sub1 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub2] -ParameterName=User Integer_sub2 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub3] -ParameterName=User Integer_sub3 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub4] -ParameterName=User Integer_sub4 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub5] -ParameterName=User Integer_sub5 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub6] -ParameterName=User Integer_sub6 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub7] -ParameterName=User Integer_sub7 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub8] -ParameterName=User Integer_sub8 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub9] -ParameterName=User Integer_sub9 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subA] -ParameterName=User Integer_subA -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subB] -ParameterName=User Integer_subB -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subC] -ParameterName=User Integer_subC -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subD] -ParameterName=User Integer_subD -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subE] -ParameterName=User Integer_subE -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00subF] -ParameterName=User Integer_subF -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub10] -ParameterName=User Integer_sub10 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub11] -ParameterName=User Integer_sub11 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub12] -ParameterName=User Integer_sub12 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub13] -ParameterName=User Integer_sub13 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub14] -ParameterName=User Integer_sub14 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub15] -ParameterName=User Integer_sub15 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub16] -ParameterName=User Integer_sub16 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub17] -ParameterName=User Integer_sub17 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F00sub18] -ParameterName=User Integer_sub18 -ObjectType=0x7 -DataType=0x0004 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=-2147483648 -HighLimit=2147483647 - -[2F01] -ParameterName=User Float Array -ObjectType=0x8 -SubNumber=25 - -[2F01sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=24 -PDOMapping=0 - -[2F01sub1] -ParameterName=User Float Array_sub1 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub2] -ParameterName=User Float Array_sub2 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub3] -ParameterName=User Float Array_sub3 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub4] -ParameterName=User Float Array_sub4 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub5] -ParameterName=User Float Array_sub5 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub6] -ParameterName=User Float Array_sub6 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub7] -ParameterName=User Float Array_sub7 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub8] -ParameterName=User Float Array_sub8 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub9] -ParameterName=User Float Array_sub9 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subA] -ParameterName=User Float Array_subA -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subB] -ParameterName=User Float Array_subB -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subC] -ParameterName=User Float Array_subC -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subD] -ParameterName=User Float Array_subD -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subE] -ParameterName=User Float Array_subE -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01subF] -ParameterName=User Float Array_subF -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub10] -ParameterName=User Float Array_sub10 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub11] -ParameterName=User Float Array_sub11 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub12] -ParameterName=User Float Array_sub12 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub13] -ParameterName=User Float Array_sub13 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub14] -ParameterName=User Float Array_sub14 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub15] -ParameterName=User Float Array_sub15 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub16] -ParameterName=User Float Array_sub16 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub17] -ParameterName=User Float Array_sub17 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F01sub18] -ParameterName=User Float Array_sub18 -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F05] -ParameterName=Get Drive Control Board Type -ObjectType=0x7 -DataType=0x0006 -AccessType=ro -DefaultValue=0 -PDOMapping=0 - -[2F20] -ParameterName=TPDO asynchronous events -ObjectType=0x8 -SubNumber=5 - -[2F20sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=4 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2F20sub1] -ParameterName=PDO1 trigger events -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x08000000 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F20sub2] -ParameterName=PDO2 trigger events -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0x80000000 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F20sub3] -ParameterName=PDO3 trigger events -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F20sub4] -ParameterName=PDO4 trigger events -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F21] -ParameterName=Emergency Events -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=0x7FF -PDOMapping=0 - -[2F41] -ParameterName=DS402 Configuration Object -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 - -[2F45] -ParameterName=Threshold Parameter -ObjectType=0x8 -SubNumber=5 - -[2F45sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=4 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2F45sub1] -ParameterName=Under voltage threshold in mV -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F45sub2] -ParameterName=Over voltage threshold in mV -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F45sub3] -ParameterName=Analog Encoder Amplitude Threshold -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F45sub4] -ParameterName=Over temperature Threshold in Celsius -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=85 -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F70] -ParameterName=Can Encoder Range -ObjectType=0x8 -SubNumber=3 - -[2F70sub0] -ParameterName=NrOfObjects -ObjectType=0x7 -DataType=0x0005 -AccessType=ro -DefaultValue=2 -PDOMapping=0 -LowLimit=0 -HighLimit=255 - -[2F70sub1] -ParameterName=Low Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0 -PDOMapping=0 -LowLimit=0 -HighLimit=0 - -[2F70sub2] -ParameterName=High Limit -ObjectType=0x7 -DataType=0x0007 -AccessType=rw -DefaultValue=0xFFFFFFFF -PDOMapping=0 -LowLimit=0 -HighLimit=0xFFFFFFFF - -[2F75] -ParameterName=Extrapolation Cycles Timeout -ObjectType=0x7 -DataType=0x0006 -AccessType=rw -DefaultValue=1 -PDOMapping=0 -LowLimit=1 -HighLimit=32767 - -[PreDefines] -csp= -cst= -csv= -hm=1 -ip=1 -pc= -pp=1 -pv=1 -tq=1 -vl= - diff --git a/cob_hardware_config/cob4-4/config/Elmo.dcf b/cob_hardware_config/cob4-4/config/Elmo.dcf new file mode 120000 index 000000000..478208c66 --- /dev/null +++ b/cob_hardware_config/cob4-4/config/Elmo.dcf @@ -0,0 +1 @@ +../../common/Elmo.dcf \ No newline at end of file diff --git a/cob_hardware_config/cob4-4/config/base_driver.yaml b/cob_hardware_config/cob4-4/config/base_driver.yaml index 8a104c213..6ebc0e8fa 100644 --- a/cob_hardware_config/cob4-4/config/base_driver.yaml +++ b/cob_hardware_config/cob4-4/config/base_driver.yaml @@ -6,6 +6,14 @@ defaults: "6084": "1000000" "60C5": "1000000" "60C6": "1000000" + "6099sub1": "100000" # find switch (coarse) + "6099sub2": "10000" # find home (fine) + "1016sub1" : "0x7F0064" # heartbeat timeout of 100 ms for master at 127 + +drive_wheel: &drive_wheel + dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) + "6098": "35" # homing method + vel_from_device: "p1 == nan || obj2041 == t1 ? 0 : deg2rad(1000*norm(obj6064-p1,-36000000,36000000)/norm(obj2041-t1,0,2^32)), p1=p0, p0 = obj6064, t1 = t0, t0 = obj2041" nodes: ##Wheel 1 @@ -13,31 +21,28 @@ nodes: id: 1 dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) "6098": "19" # homing method - "607C": "-54359" # home offset + "607C": "-52047" # home offset fl_caster_r_wheel_joint: + <<: *drive_wheel id: 2 - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "6098": "35" # homing method ##Wheel 2 b_caster_rotation_joint: id: 3 dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) "6098": "19" # homing method - "607C": "-175428" # home offset + "607C": "-172226" # home offset b_caster_r_wheel_joint: + <<: *drive_wheel id: 4 - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "6098": "35" # homing method ##Wheel 3 fr_caster_rotation_joint: id: 5 dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) "6098": "19" # homing method - "607C": "-111597" # home offset + "607C": "67092" # home offset fr_caster_r_wheel_joint: + <<: *drive_wheel id: 6 - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "6098": "35" # homing method diff --git a/cob_hardware_config/cob4-4/config/can0.yaml b/cob_hardware_config/cob4-4/config/can0.yaml index 1504071be..50e990f30 100644 --- a/cob_hardware_config/cob4-4/config/can0.yaml +++ b/cob_hardware_config/cob4-4/config/can0.yaml @@ -1,5 +1,9 @@ bus: device: can0 + master_allocator: canopen::SimpleMaster::Allocator sync: - interval_ms: 10 + interval_ms: 20 overflow: 0 +heartbeat: + rate: 20 + msg: "77f#05" diff --git a/cob_hardware_config/cob4-6/cob4-6.rviz b/cob_hardware_config/cob4-6/cob4-6.rviz new file mode 120000 index 000000000..565746e47 --- /dev/null +++ b/cob_hardware_config/cob4-6/cob4-6.rviz @@ -0,0 +1 @@ +../common/cob4_base.rviz \ No newline at end of file diff --git a/cob_hardware_config/common/Elmo.dcf b/cob_hardware_config/common/Elmo.dcf index e9ec1ea28..77d314819 100644 --- a/cob_hardware_config/common/Elmo.dcf +++ b/cob_hardware_config/common/Elmo.dcf @@ -1300,7 +1300,7 @@ AccessType=rw PDOMapping=0 LowLimit=0 HighLimit=8 -ParameterValue=2 +ParameterValue=3 [1A00sub1] ParameterName=Status Word @@ -1327,6 +1327,7 @@ ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 +ParameterValue=0x20410020 [1A00sub4] ParameterName=PDO Mapping Entry_4 diff --git a/cob_hardware_config/common/cob4_base.rviz b/cob_hardware_config/common/cob4_base.rviz new file mode 100644 index 000000000..c1c5b8c6d --- /dev/null +++ b/cob_hardware_config/common/cob4_base.rviz @@ -0,0 +1,359 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.622896 + Tree Height: 785 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan Left +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes base_link + Radius: 0.1 + Reference Frame: base_link + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + b_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: x + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 0; 255; 0 + Max Intensity: 10.454 + Min Color: 0; 255; 0 + Min Intensity: 0.227896 + Name: LaserScan Front + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /scan_front + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 255; 0 + Min Intensity: 0 + Name: LaserScan Left + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /scan_left + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan Right + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /scan_right + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /safety_controller/marker + Name: Safety + Namespaces: + {} + Queue Size: 100 + Value: true + - Arrow Length: 0.3 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Name: PoseArray + Topic: /particlecloud + Value: false + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: false + Name: Path dwa global + Topic: /move_base/DWAPlannerROS/global_plan + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: false + Name: Path dwa local + Topic: /move_base/DWAPlannerROS/local_plan + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: false + Name: Path tr global + Topic: /move_base/TrajectoryPlannerROS/global_plan + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: false + Name: Path tr local + Topic: /move_base/TrajectoryPlannerROS/local_plan + Value: false + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: false + Name: InteractiveTeleop + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: /cob_interactive_teleop/update + Value: false + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map + Topic: /map + Value: false + - Alpha: 1 + Class: rviz/GridCells + Color: 255; 0; 0 + Enabled: false + Name: Obstacles + Topic: /move_base/local_costmap/obstacles + Value: false + - Alpha: 1 + Class: rviz/GridCells + Color: 0; 0; 255 + Enabled: false + Name: Inflated Obstacles + Topic: /move_base/local_costmap/inflated_obstacles + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 16.8952 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.408188 + Y: -0.0225992 + Z: -0.23833 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 1.2698 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.0113 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 998 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000012b000003a0fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003a0000000dd00fffffffb0000000c00430061006d00650072006100000002a5000000cd00000000000000000000000100000169000003bcfc0200000006fb000000140049006d00610067006500200044006f0077006e00000000280000014e0000000000000000fb000000140049006d0061006700650020004c0065006600740000000028000001db0000000000000000fb000000160049006d0061006700650020005200690067006800740000000028000003bc0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000326000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000052e000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1631 + X: 1721 + Y: 26 diff --git a/cob_hardware_config/raw3-1/config/teleop.yaml b/cob_hardware_config/raw3-1/config/teleop.yaml index 2eeef032d..fb4fb8932 100644 --- a/cob_hardware_config/raw3-1/config/teleop.yaml +++ b/cob_hardware_config/raw3-1/config/teleop.yaml @@ -5,7 +5,7 @@ run_factor: 2.0 joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 1 -light_topic_name: /light +light_action_name: /light/set_light # axes axis_vx: 1 diff --git a/cob_hardware_config/raw3-3/config/teleop.yaml b/cob_hardware_config/raw3-3/config/teleop.yaml index 90ad19a5d..3e3880d15 100644 --- a/cob_hardware_config/raw3-3/config/teleop.yaml +++ b/cob_hardware_config/raw3-3/config/teleop.yaml @@ -5,7 +5,7 @@ run_factor: 2.0 joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 1 -light_topic_name: /light +light_action_name: /light/set_light # axes axis_vx: 1