feat(proto): add EtherCAT CiA402 motor schema
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94ee690796
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5c8847d334
@ -10,6 +10,8 @@ message MotorConfigItem {
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double limit_q_ub = 4;
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double limit_qd = 5;
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double limit_qdd = 6;
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double encoder_counts_per_rev = 7;
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double gear_ratio = 8;
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}
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message MotorList {
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@ -18,9 +20,16 @@ message MotorList {
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message EthercatSlaveConfig {
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int32 motor_id = 1;
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int32 slave_index = 2;
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uint32 vendor_id = 3;
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uint32 product_code = 4;
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uint32 alias = 2;
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uint32 position = 3;
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}
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message Cia402ProtocolConfig {
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uint32 profile_position_trigger_delay_ms = 1;
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uint32 state_transition_timeout_ms = 2;
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uint32 velocity_stop_timeout_ms = 3;
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uint32 status_poll_period_ms = 4;
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double stopped_velocity_tolerance_rad_s = 5;
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}
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message SocketCanConfig {
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@ -29,8 +38,9 @@ message SocketCanConfig {
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}
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message EtherCATConfig {
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string master_id = 1;
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uint32 master_index = 1;
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int32 cycle_us = 2;
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Cia402ProtocolConfig cia402 = 3;
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repeated EthercatSlaveConfig slaves = 10;
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}
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@ -49,6 +59,7 @@ enum MotorVendor {
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MOTOR_VENDOR_UNKNOWN = 0;
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MOTOR_VENDOR_TI5 = 1;
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MOTOR_VENDOR_MUJOCO = 2;
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MOTOR_VENDOR_EYOU = 3;
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}
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enum MotorProtocol {
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@ -63,7 +74,6 @@ message MotorGroupConfig {
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MotorBusType bus_type = 2;
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MotorVendor vendor = 3;
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MotorProtocol protocol = 4;
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string tool_frame = 5;
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oneof bus_config {
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SocketCanConfig can = 10;
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@ -5,8 +5,8 @@ package cmvr.msgs;
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message SdoFrame {
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uint32 node_id = 1; // 节点ID
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CommandSpecifier cs = 2; // SDO命令字
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ObIndex index = 3; // 对象字典索引
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ObSubIndex sub_index = 4; // 子索引
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uint32 index = 3; // 对象字典索引
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uint32 sub_index = 4; // 子索引
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uint32 data = 5; // 数据区
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}
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@ -110,81 +110,38 @@ enum NmtCommand {
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}
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// 索引
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enum ObIndex {
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INDEX_ZERO = 0;
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USER_SAVE_PARA_2000 = 0x2000; // 下发命令 1 保存参数
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POSITION_OFFSET_2008 = 0x2008; // 位置偏移，子索引 0x00，用于设置零点、起始位置
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// Error Codes
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ERROR_CODE_6007 = 0x6007;
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ERROR_CODE_603F = 0x603F;
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// CANopen communication object dictionary indexes.
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// CiA402 drive-profile objects are defined in cia402.proto.
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enum CanopenObjectIndex {
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CANOPEN_OBJECT_INDEX_ZERO = 0;
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// Control and Status
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CONTROL_WORD_6040 = 0x6040;
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STATUS_WORD_6041 = 0x6041;
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CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017;
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// Operation Modes
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OPERATION_MODE_6060 = 0x6060;
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MODE_DISPLAY_6061 = 0x6061;
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// Actual Values
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ACTUAL_POSITION_6064 = 0x6064;
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ACTUAL_SPEED_606C = 0x606C;
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ACTUAL_CURRENT_6078 = 0x6078;
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// Torque-related
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TARGET_TORQUE_6071 = 0x6071;
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MAX_TORQUE_6072 = 0x6072;
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DEMAND_TORQUE_6074 = 0x6074;
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// Position-related
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TARGET_POSITION_607A = 0x607A;
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SOFTWARE_POSITION_LIMIT_607D = 0x607D; // Sub-indexes: 1, 2
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// Speed-related
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MAX_SPEED_607F = 0x607F;
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PROFILE_SPEED_6081 = 0x6081;
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PROFILE_ACCELERATION_6083 = 0x6083;
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PROFILE_DECELERATION_6084 = 0x6084;
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// Same as DEMAND_TORQUE? Verify correctness.
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// TORQUE_SLOPE_6074 = 0x6074;
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// PID Control
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CURRENT_LOOP_PID_60F6 = 0x60F6; // Sub-indexes: 1, 2
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SPEED_LOOP_PID_60F9 = 0x60F9; // Sub-indexes: 1, 2
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POSITION_LOOP_PID_60FB = 0x60FB; // Sub-indexes: 1, 2, 3
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// Target Speed
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TARGET_SPEED_60FF = 0x60FF;
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QUICK_STOP_OPTION_605A = 0x605A;
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QUICK_STOP_DECEL_6085 = 0x6085;
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// -------------------------
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// PDO 通信参数对象（Communication Object）
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RPDO1_COMM_1400 = 0x1400;
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RPDO2_COMM_1401 = 0x1401;
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RPDO3_COMM_1402 = 0x1402;
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RPDO4_COMM_1403 = 0x1403;
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CANOPEN_RPDO1_COMM_1400 = 0x1400;
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CANOPEN_RPDO2_COMM_1401 = 0x1401;
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CANOPEN_RPDO3_COMM_1402 = 0x1402;
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CANOPEN_RPDO4_COMM_1403 = 0x1403;
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TPDO1_COMM_1800 = 0x1800;
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TPDO2_COMM_1801 = 0x1801;
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TPDO3_COMM_1802 = 0x1802;
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TPDO4_COMM_1803 = 0x1803;
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CANOPEN_TPDO1_COMM_1800 = 0x1800;
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CANOPEN_TPDO2_COMM_1801 = 0x1801;
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CANOPEN_TPDO3_COMM_1802 = 0x1802;
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CANOPEN_TPDO4_COMM_1803 = 0x1803;
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// PDO 映射对象（Mapping Object）
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RPDO1_MAP_1600 = 0x1600;
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RPDO2_MAP_1601 = 0x1601;
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RPDO3_MAP_1602 = 0x1602;
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RPDO4_MAP_1603 = 0x1603;
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CANOPEN_RPDO1_MAP_1600 = 0x1600;
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CANOPEN_RPDO2_MAP_1601 = 0x1601;
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CANOPEN_RPDO3_MAP_1602 = 0x1602;
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CANOPEN_RPDO4_MAP_1603 = 0x1603;
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TPDO1_MAP_1A00 = 0x1A00;
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TPDO2_MAP_1A01 = 0x1A01;
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TPDO3_MAP_1A02 = 0x1A02;
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TPDO4_MAP_1A03 = 0x1A03;
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CANOPEN_TPDO1_MAP_1A00 = 0x1A00;
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CANOPEN_TPDO2_MAP_1A01 = 0x1A01;
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CANOPEN_TPDO3_MAP_1A02 = 0x1A02;
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CANOPEN_TPDO4_MAP_1A03 = 0x1A03;
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PRODUCER_HEARTBEAT_TIME = 0x1017;
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// Ti5 vendor-specific objects used through CANopen SDO.
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CANOPEN_USER_SAVE_PARA_2000 = 0x2000;
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CANOPEN_POSITION_OFFSET_2008 = 0x2008;
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}
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// 子索引
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@ -198,5 +155,3 @@ enum ObSubIndex {
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SUB_INDEX_6 = 6;
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SUB_INDEX_7 = 7;
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}
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64
protos/cmvr/msgs/cia402.proto
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64
protos/cmvr/msgs/cia402.proto
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@ -0,0 +1,64 @@
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syntax = "proto3";
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package cmvr.msgs;
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// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
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enum Cia402ObjectIndex {
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CIA402_OBJECT_INDEX_ZERO = 0;
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CIA402_ERROR_CODE_603F = 0x603F;
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CIA402_CONTROL_WORD_6040 = 0x6040;
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CIA402_STATUS_WORD_6041 = 0x6041;
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CIA402_QUICK_STOP_OPTION_605A = 0x605A;
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CIA402_SHUTDOWN_OPTION_605B = 0x605B;
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CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C;
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CIA402_HALT_OPTION_605D = 0x605D;
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CIA402_FAULT_REACTION_OPTION_605E = 0x605E;
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CIA402_OPERATION_MODE_6060 = 0x6060;
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CIA402_MODE_DISPLAY_6061 = 0x6061;
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CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062;
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CIA402_ACTUAL_POSITION_6064 = 0x6064;
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CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065;
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CIA402_POSITION_WINDOW_6067 = 0x6067;
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CIA402_POSITION_WINDOW_TIME_6068 = 0x6068;
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CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B;
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CIA402_ACTUAL_VELOCITY_606C = 0x606C;
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CIA402_VELOCITY_WINDOW_606D = 0x606D;
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CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E;
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CIA402_VELOCITY_THRESHOLD_606F = 0x606F;
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CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070;
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CIA402_TARGET_TORQUE_6071 = 0x6071;
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CIA402_MAX_TORQUE_6072 = 0x6072;
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CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074;
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CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076;
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CIA402_ACTUAL_TORQUE_6077 = 0x6077;
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CIA402_ACTUAL_CURRENT_6078 = 0x6078;
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CIA402_DC_LINK_VOLTAGE_6079 = 0x6079;
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CIA402_TARGET_POSITION_607A = 0x607A;
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CIA402_HOME_OFFSET_607C = 0x607C;
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CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D;
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CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F;
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CIA402_PROFILE_VELOCITY_6081 = 0x6081;
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CIA402_PROFILE_ACCELERATION_6083 = 0x6083;
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CIA402_PROFILE_DECELERATION_6084 = 0x6084;
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CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085;
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CIA402_TORQUE_SLOPE_6087 = 0x6087;
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CIA402_GEAR_RATIO_6091 = 0x6091;
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CIA402_VELOCITY_OFFSET_60B1 = 0x60B1;
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CIA402_TORQUE_OFFSET_60B2 = 0x60B2;
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CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1;
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CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2;
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CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4;
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CIA402_TARGET_VELOCITY_60FF = 0x60FF;
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CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502;
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}
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@ -114,5 +114,3 @@ message MotorStatus {
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uint32 status_word = 44;
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}
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@ -1,6 +1,5 @@
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syntax = "proto3";
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import "cmvr/msgs/canopen.proto";
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import "cmvr/msgs/motor.proto";
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package cmvr.msgs;
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