ROS Index
|
adi_tmc_coe_interfaces package from adi_tmc_coe repoadi_tmc_coe adi_tmc_coe_core adi_tmc_coe_interfaces |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/analogdevicesinc/adi_tmc_coe_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-03-06 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Custom interfaces for adi_tmc_coe
Additional Links
No additional links.
Maintainers
- Analog Devices
Authors
No additional authors.
| adi_tmc_coe_interfaces |
|---|
| Custom interfaces for ROS Driver for Trinamic Motor Controllers (TMC) that uses CANopen-over-etherCAT(CoE) protocol. |
Custom msg
adi_tmc_coe_interfaces/msg/TmcCoeInfo
| Data | Data Type | Description |
|---|---|---|
| interface_name | string | Interface name, commonly starting in "en" or "eth" |
| slave_number | uint8 | Slave number starting with 1 up to 255 |
| motor_number | uint8 | Motor number starting with 0 (for motor 0 or axis 0) |
| mode_of_operation | string | "None", "Profile Position", "Profile Velocity", "Homing Mode", "Cyclic Synchronous Position Mode", "Cyclic Synchronous Velocity Mode", "Cyclic Synchronous Torque Mode" |
| status_word | int32 | Reflects status of the CiA402 state machine |
| velocity | float32 | If wheel_diameter parameter is set to 0, the unit for published velocity is rpm, else m/s |
| position | int32 | If Position Scaler and Encoder steps are not available as device parameter, the unit for published position is steps, else degree angle |
| torque | int32 | Units in mA |
Custom srv
adi_tmc_coe_interfaces/srv/ReadWriteSDO
| Data | Data Type | Description | Input |
|---|---|---|---|
| Request | |||
| slave_number | uint8 | Slave number of the selected device. The count should start with "1" |
1-255 |
| object_name | string | Object Name of the Parameter | Check the autogenerated yaml of the used module and use the obj_name |
| value | string | When reading, not required | - |
| When writing, should be input value | When writing, this is integer in string form. Check the object limits on device's firmware manual. e.g. TMCM-1461 | ||
| Response | |||
| output | int32 | Returns the actual value of the SDO | - |
| result | bool | Returns true if successful, false if an error occurs (wrong input/s, data not received correctly) | - |
adi_tmc_coe_interfaces/srv/ReadWritePDO
Request
| Data | Data Type | Description | Input |
|---|---|---|---|
| Request | |||
| slave_number | uint8 | Slave number of the selected device. The count should start with "1" |
1-255 |
| cmd | string | Commands available in PDO to read | When reading, "modes of operation display", "statusword", "actual velocity", "demand velocity", "actual position", "demand position", "actual torque", "demand torque" |
| Commands available in PDO to write to | When writing, "modes of operation", "controlword", "target velocity", "target position", "target torque" |
||
| value | int32 | When reading, not required | - |
| When writing, should be input value | When writing, this is integer in string form. Check the object limits on device's firmware manual. e.g. TMCM-1461 | ||
| Response | |||
| actual_value | int32 | Returns the actual value of the PDO | - |
| result | bool | Returns true if successful, false if an error occurs (wrong input/s, data not received correctly) | - |
adi_tmc_coe_interfaces/srv/ChangeNMTState
| Data | Data Type | Description | Input |
|---|---|---|---|
| Request | |||
| slave_number | uint8 | Slave number of the selected device. The count should start with "1" |
1-255 |
| request_state | string | Requested state of the device; Check the NMT state diagram for correct sequence. |
"init", "preop", "safeop", "operational" |
| Response | |||
| current_state | string | Returns the current state of the device | - |
| result | bool | Returns true if successful, false if an error occurs (wrong input/s, wrong sequence) | - |
adi_tmc_coe_interfaces/srv/ChangeCia402State
| Data | Data Type | Description | Input |
|---|---|---|---|
| Request | |||
| slave_number | uint8 | Slave number of the selected device. The count should start with "1" |
1-255 |
| request_state | string | Requested CiA402 or DS402 state of the device; Check the DS402 State Diagram for correct sequence. |
"switch on disable", "ready to switch on", "swithed on", "operation enabled", "quick stop active" |
| Response | |||
| current_state | string | Returns the current state of the device | - |
| result | bool | Returns true if successful, false if an error occurs (wrong input/s, wrong sequence) | - |
adi_tmc_coe_interfaces/srv/CyclicSyncMode
| Data | Data Type | Description | Input |
|---|---|---|---|
| Request | |||
| slave_number | uint8 | Slave number of the selected device. The count should start with "1" |
1-255 |
| CS_cmd | string | Cyclic Synchronous Modes | "csp" - Cyclic Synchronous Position, "csv" - Cyclic Synchronous Velocity, "cst" - Cyclic Synchronous Torque |
| interpolation_time_period | uint8 | Sets the delay for every cycle of data sent | 1-255 |
| interpolation_time_index | int8 | Index for interpolation time period where the value increases by the factor of 10 | -3 to 3 |
| value | int32[] | Set of values to be sent to the device | array/vector of int32 |
| Response | |||
| bool | result | Returns true if successful, false if an error occurs (wrong input/s) | - |
CHANGELOG
Changelog for package adi_tmc_coe_interfaces
1.0.0 (2025-03-06)
- Adding 1.0.0 of adi_tmc_coe, ROS2 Humble
- Contributors: Jamila Macagba
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rosidl_default_generators | |
| rosidl_default_runtime | |
| ament_lint_auto | |
| ament_lint_common | |
| std_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| adi_tmc_coe | |
| adi_tmc_coe_core |
Launch files
No launch files found
Messages
Services
Plugins
No plugins found.
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