Contents
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
- In this example the interface is ecat0.
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