openvmp / stepper_driver_em2rs

ROS2 package for EM2RS Series stepper motor drivers

ROS2 package for EM2RS 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

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.