ethercat_hardware/Troubleshooting

Contents

Errors when using motorconf

Errors when using motorconf

Error: Unable to locate any slaves

 root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0

 Unable to locate any slaves

Solution: Check the following things:

Are you on a machine connected MCBs?
- On most robots this is machine 1, prX1.
Is the interface up?
- In this example the interface is ecat0.
```
  sudo ifconfig ecat0 up
```

Error: No default motor for this name

 root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 -p -n actuator_name -d 0

 [ INFO] 1236963380.428284000: Device #02: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.429241000:             Serial #: 01070
 [ INFO] 1236963380.431508000:             Name: fr_caster_l_wheel_motor
 [ INFO] 1236963380.475175000: Device #03: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.476185000:             Serial #: 01101
 [ INFO] 1236963380.478312000:             Name: fr_caster_r_wheel_motor
 [ INFO] 1236963380.522127000: Device #04: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.523138000:             Serial #: 01025
 [ INFO] 1236963380.525259000:             Name: fr_caster_rotation_motor
 .
 .
 Usage: ./motorconf [options]
 -i, --interface <i>    Use the network interface <i>
 -a, --actuators <file> Get the actuator definitions from file (default: actuators.conf)
 -d, --device <d>       Select the device to program
 -b, --board <b>        Set the expected board type (wg005, wg006, wg021)
 -p, --program          Program a motor control board
 -n, --name <n>         Set the name of the motor control board to <n>
    Known actuator names:
      bl_caster_l_wheel_motor
      bl_caster_r_wheel_motor
      .
      .
 -m, --motor <m>        Set the configuration for motor <m>
    Legal motor values are:
      148877 - Maxon 148877
      222057 - Maxon 222057
      .
      .
 -h, --help    Print this message and exit
 Error: No default motor for this name

Solution:

Check the spelling of the actuator name
Is the actuator defined in actuators.conf?
Did you mean to use an alternate actuators configuration file (-a option)?
Explicitly specify a motor with the -m option

Error: There is no device at position #X

 root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 -p -n actuator_name -d X
 [ INFO] 1236963380.428284000: Device #02: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.429241000:             Serial #: 01070
 [ INFO] 1236963380.431508000:             Name: fr_caster_l_wheel_motor
 [ INFO] 1236963380.475175000: Device #03: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.476185000:             Serial #: 01101
 [ INFO] 1236963380.478312000:             Name: fr_caster_r_wheel_motor
 [ INFO] 1236963380.522127000: Device #04: WG05 (0x67d60d) Firmware Revision 1.08, PCB Revision B.02
 [ INFO] 1236963380.523138000:             Serial #: 01025
 [ INFO] 1236963380.525259000:             Name: fr_caster_rotation_motor
 .
 .
 [FATAL] 1236963689.398617000: There is no device at position #X

Solution:

Did you give the correct device location?

Error: Returns without finding slaves

 root@prXX:/ros/ros-pkg/drivers/motor/ethercat_hardware# ./motorconf -i ecat0 
 Filename: actuators.conf
 With:
 Socket created: socket id: 3
 Got interface: index: 0
 Packet round-trip timeout has been set to 20000 usecs.

Solution:

Is the power board on?

  roscd pr2_power_board
  rosmake
  roslaunch gui_power2.launch