Cia402 Driver

The Cia402 Driver implements the CIA402 profile for motion controllers and enables setting the drive status, operation mode and sending target values to the motion controller.

Services

Services	Type	Description
~/nmt_reset_node	Trigger	Resets CANopen Device the Proxy Device Node manages.
~/sdo_read	CORead	Reads an SDO object from the specified index, subindex and datatype of the remote device.
~/sdo_write	COWrite	Writes data to an SDO object on the specified index, subindex and datatype of the remote device.
~/init	Trigger	Initialises motion controller including referencing
~/recover	Trigger	Recovers motion controller
~/halt	Trigger	Stops motion controller
~/position_mode	Trigger	Switches to profiled position mode
~/velocity_mode	Trigger	Switches to profiled velocity mode
~/torque_mode	Trigger	Switches to profiled torque mode
~/cyclic_position_mode	Trigger	Switches to cyclic position mode
~/cyclic_velocity_mode	Trigger	Switches to cyclic velocity mode
~/interpolated_position_mode	Trigger	Switches to interpolated position mode, only linear mode with fixed time is supported
~/target	CODouble	Sets the target value. Only accepted when an operation mode is set.

Publishers

Publishers	Type	Description
~/joint_states	sensor_msgs/msg/JointState	Joint states of the drive

Subscribers

Topic	Type	Description
~/target	COTargetDouble	Sets target value.

Bus Configuration Parameters

Additional parameters that can be used in bus.yml for this driver.

Parameter	Type	Description
period	Milliseconds	Refresh period for 402 state machine. Should be similar to sync period of master.
switching_state	see below	The state to switch the operation mode in.
scale_pos_to_dev	double	Scaling factor to convert from SI units to device units for position.
scale_vel_to_dev	double	Scaling factor to convert from SI units to device units for velocity.
scale_pos_from_dev	double	Scaling factor to convert from device units to SI units for position.
scale_vel_from_dev	double	Scaling factor to convert from device units to SI units for velocity.