This package is used to control the PD42-1-1270 stepper motor from Trinamic via ros2_canopen.

Usage

Setup CANController

• Virtual CANController

  sudo modprobe vcan
  sudo ip link add dev vcan0 type vcan
  sudo ip link set vcan0 txqueuelen 1000
  sudo ip link set up vcan0

• Peak CANController

  sudo modprobe peak_usb
  sudo ip link set can0 up type can bitrate 1000000
  sudo ip link set can0 txqueuelen 1000
  sudo ip link set up can0

Run the node

• Fake slave:

  ros2 run trinamic_pd42_can mock_launch.launch.py

• Real hardware:

  ros2 run trinamic_pd42_can real_hw_launch.launch.py

Init the device

ros2 service call /trinamic_pd42/init std_srvs/srv/Trigger

Switch mode to ProfilePosition

ros2 service call /trinamic_pd42/position_mode std_srvs/srv/Trigger

Set target position

ros2 service call /trinamic_pd42/target canopen_interfaces/srv/COTargetDouble "{ target: 10.0 }"

or

ros2 run trinamic_pd42_can position_tick_client