ethercat_hardware¶

Message types¶

• ethercat_hardware/BoardInfo
• ethercat_hardware/RawFTData
• ethercat_hardware/MotorTrace
• ethercat_hardware/MotorTemperature
• ethercat_hardware/RawFTDataSample
• ethercat_hardware/MotorTraceSample
• ethercat_hardware/ActuatorInfo

ethercat_hardware/BoardInfo¶

Field:	description (string) – product_code (uint32) – pcb (uint32) – pca (uint32) – serial (uint32) – firmware_major (uint32) – firmware_minor (uint32) – board_resistance (float64) – max_pwm_ratio (float64) – hw_max_current (float64) – poor_measured_motor_voltage (bool) –

string description
uint32 product_code
uint32 pcb
uint32 pca
uint32 serial
uint32 firmware_major
uint32 firmware_minor
float64 board_resistance
float64 max_pwm_ratio
float64 hw_max_current
bool poor_measured_motor_voltage

ethercat_hardware/RawFTData¶

Field:	samples[] (ethercat_hardware/RawFTDataSample) – sample_count (int64) – missed_samples (int64) –

Raw Data from WG035 F/T input via WG006 (gripper MCB).

# Raw Data from WG035 F/T input via WG006 (gripper MCB).
RawFTDataSample[] samples  # The realtime loop receives upto 4 new samples each 1hKhz cycle 
int64 sample_count         # Counts number of samples
int64 missed_samples       # Counts number of samples that were missed

ethercat_hardware/MotorTrace¶

Field:	header (std_msgs/Header) – reason (string) – board_info (ethercat_hardware/BoardInfo) – actuator_info (ethercat_hardware/ActuatorInfo) – samples[] (ethercat_hardware/MotorTraceSample) –

Header header
string reason
ethercat_hardware/BoardInfo board_info
ethercat_hardware/ActuatorInfo actuator_info
ethercat_hardware/MotorTraceSample[] samples

ethercat_hardware/MotorTemperature¶

Field:	stamp (time) – winding_temperature (float64) – housing_temperature (float64) – ambient_temperature (float64) – heating_power (float64) –

Sample of motor heating information

# Sample of motor heating information
time    stamp
float64 winding_temperature
float64 housing_temperature
float64 ambient_temperature
float64 heating_power

ethercat_hardware/RawFTDataSample¶

Field:	sample_count (uint64) – data[] (int16) – vhalf (uint16) –

One raw Data sample from WG035 F/T input via WG006 (gripper MCB).

# One raw Data sample from WG035 F/T input via WG006 (gripper MCB).
uint64  sample_count
int16[] data
uint16  vhalf

ethercat_hardware/MotorTraceSample¶

Field:

timestamp (float64) – enabled (bool) – supply_voltage (float64) – measured_motor_voltage (float64) – programmed_pwm (float64) – executed_current (float64) – measured_current (float64) – velocity (float64) – encoder_position (float64) – encoder_error_count (uint32) – motor_voltage_error_limit (float64) – filtered_motor_voltage_error (float64) – filtered_abs_motor_voltage_error (float64) – filtered_measured_voltage_error (float64) – filtered_abs_measured_voltage_error (float64) – filtered_current_error (float64) – filtered_abs_current_error (float64) –

float64 timestamp
bool    enabled
float64 supply_voltage
float64 measured_motor_voltage
float64 programmed_pwm
float64 executed_current
float64 measured_current
float64 velocity
float64 encoder_position
uint32  encoder_error_count
float64 motor_voltage_error_limit
float64 filtered_motor_voltage_error
float64 filtered_abs_motor_voltage_error
float64 filtered_measured_voltage_error
float64 filtered_abs_measured_voltage_error
float64 filtered_current_error
float64 filtered_abs_current_error

ethercat_hardware/ActuatorInfo¶

Field:	id (uint32) – name (string) – robot_name (string) – motor_make (string) – motor_model (string) – max_current (float64) – speed_constant (float64) – motor_resistance (float64) – motor_torque_constant (float64) – encoder_reduction (float64) – pulses_per_revolution (float64) –

uint32 id
string name
string robot_name
string motor_make
string motor_model
float64 max_current
float64 speed_constant
float64 motor_resistance
float64 motor_torque_constant
float64 encoder_reduction
float64 pulses_per_revolution

Service types¶

• ethercat_hardware/SoftProcessorFirmwareRead
• ethercat_hardware/SoftProcessorFirmwareWrite
• ethercat_hardware/SoftProcessorReset

ethercat_hardware/SoftProcessorFirmwareRead¶

Field (Request):
	actuator_name (string) – processor_name (string) –
Field (Response):
	success (bool) – error_msg (string) – instructions[] (uint32) –

string actuator_name     # name of actuator that soft-processor is part of (ex : r_gripper_motor)
string processor_name    # name of soft-processor to firmware to read
                         # certain actuators may have more than one soft-processor (ex : accel, pressure)
---
bool success             # true if firmware was successfully read from device
string error_msg         # descriptive error message if call was not successful
uint32[] instructions    # list of firmware binary instructions.  
                         # not all soft-processors instructions use all 32bits for each instruction

ethercat_hardware/SoftProcessorFirmwareWrite¶

Field (Request):
	actuator_name (string) – processor_name (string) – instructions[] (uint32) –
Field (Response):
	success (bool) – error_msg (string) –

string actuator_name     # name of actuator that soft-processor is part of (ex : r_gripper_motor)
string processor_name    # name of soft-processor to firmware to write
                         # certain devices may have more than one soft-processor
uint32[] instructions    # list of firmware binary instructions 
                         # not all soft-processors instructions use all 32bits for each instruction, 
                         # non-used bit should be zero-filled
---
bool success             # true if firmware was successfully writen to device
string error_msg         # descriptive error message if call was not successful

ethercat_hardware/SoftProcessorReset¶

Field (Request):
	actuator_name (string) – processor_name (string) –
Field (Response):
	success (bool) – error_msg (string) –

string actuator_name     # name of actuator that soft-processor is part of (ex : r_gripper_motor)
string processor_name    # name of soft-processor to soft-reset, 
                         # certain devices may have more than one soft-processor
---
bool success             # true if processor was successfully reset
string error_msg         # descriptive error message if call was not successful