https://github.com/ami-iit/yarp-device-ethercat-cia402

Science Score: 26.0%

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Low similarity (13.6%) to scientific vocabulary

Last synced: 9 months ago · JSON representation

Repository

Basic Info

Host: GitHub
Owner: ami-iit
License: bsd-3-clause
Language: C++
Default Branch: main
Size: 7.59 MB

Statistics

Stars: 2
Watchers: 7
Forks: 0
Open Issues: 1
Releases: 2

Created about 1 year ago · Last pushed 10 months ago

Metadata Files

Readme License

yarp-device-ethercat-CiA402 🚀

Overview 🌟

This repository provides a YARP device plugin for EtherCAT CiA402 drives.

Compilation 🛠️

Prerequisites 📋

Ensure the following dependencies are installed: - CMake (version 3.8 or higher) - YARP - SOEM

Note: This device has been tested only on Linux systems.

Build Steps 🧩

Clone the repository: bash git clone https://github.com/your-repo/yarp-device-ethercat-cia402.git cd yarp-device-ethercat-cia402
Create a build directory and navigate into it: bash mkdir build && cd build
Configure the project with CMake: bash cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/path/to/install
Build the project: bash make
Install the plugin: bash make install

Usage 🚀

Running the Plugin 🏃‍♂️

After building the project, the plugin can be loaded into a YARP-based application. Make sure the YARP_DATA_DIRS environment variable includes the path to the plugin's configuration files: bash export YARP_DATA_DIRS=/path/to/install:$YARP_DATA_DIRS

Configuration ⚙️

The plugin requires a configuration file defining the EtherCAT network and device parameters. An example can be found at: config/robot/template_1_motor/config.xml

Setting Up `yarprobotinterface` 🛠️

To ensure that the yarprobotinterface binary has the correct permissions and can locate its dependencies, execute:

bash sudo setcap cap_net_raw,cap_net_admin+ep $(which yarprobotinterface) patchelf --add-rpath $(dirname $(dirname $(which yarprobotinterface)))/lib $(which yarprobotinterface)

Example 💡

To run the plugin with a specific configuration: bash yarprobotinterface --config config/robot/adj8/config.xml

Supported Drives 🛠️

This plugin has been primarily tested with Synapticon drives. While it may be compatible with other EtherCAT drive models or manufacturers, some modifications might be necessary to ensure proper functionality. This is due to the plugin’s use of a custom Process Data Object (PDO) mapping, which extends beyond the standard CiA402 specification.

If you're looking to adapt the plugin for different hardware, we encourage you to open an issue or contribute improvements.

Additional notes 📝

For more details, see: - Protocol map — PDOs, SDOs, and conversion formulas: doc/protocol_map.md - Modes and setpoints — available control modes and targets: doc/modesandsetpoints.md - Dual encoder handling — mounts, sources, and transformations: doc/dualencoderhandling.md

License 📜

This project is licensed under the BSD-3-Clause License. See the LICENSE file for details.

Owner

Name: Artificial and Mechanical Intelligence
Login: ami-iit
Kind: organization
Location: Italy

Website: https://ami.iit.it/
Repositories: 111
Profile: https://github.com/ami-iit

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Last Year

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