ROS2 package for CL86RS Series stepper motor drivers

This packages controls stepper drivers using Modbus RTU over RS485. It is expected to support the following products:

• Leadshine
  • EM2RS-522
  • EM2RS-556
  • EM2RS-870
  • EM2RS-A882
• STEPPERONLINE
  • DM556RS
  • DM882RS
  • CL86RS (THIS NEEDS TO BE PORTED)

The CL86RS Uses Encoders, and needs to be implentated

Ready for ros2_control

This package works with ros2_control via remote_hardware_interface.

Generic actuator interface

This package implements the velocity command (in terms of ros2\_control) using the generic actuator interface.

$ ros2 service list
...
/openvmp/robot_EE3U/actuator/front_body_joint/set_velocity
...

Generic stepper driver interface

This package implements the generic stepper driver interface.

$ ros2 service list
...
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/param/ppr/get
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/param/ppr/set
...

Custom interface

This package also exposes some device specific Modbus registers as ROS2 services.

$ ros2 service list
...
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_brake_delay_lock
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_brake_delay_release
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_brake_locking_velocity_threshold
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_control
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_cur_alarm
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_dir
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_do1
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_firmware
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_jog_acc_dec
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_jog_interval
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_jog_velocity
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_model
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_peak_current
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_ppr
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/get_version
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_brake_delay_lock
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_brake_delay_release
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_brake_locking_velocity_threshold
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_control
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_dir
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_do1
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_jog_acc_dec
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_jog_interval
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_jog_velocity
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_peak_current
/openvmp/robot_EE3U/actuator/front_body_joint/stepper/modbus/set_ppr
...

Disclaimers

It has only been tested with STEPPERONLINE DM556RS so far.