73 lines
2.6 KiB
Plaintext
73 lines
2.6 KiB
Plaintext
motor {
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id: "ethercat_motors"
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motor_groups {
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id: "right_arm_ethercat"
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bus_type: MOTOR_BUS_ETHERCAT
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vendor: MOTOR_VENDOR_EYOU
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protocol: MOTOR_PROTOCOL_ETHERCAT_CIA402
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ethercat {
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master_index: 0
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cycle_us: 1000
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slave_op_timeout_ms: 12000
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slave_state_poll_period_ms: 10
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cia402 {
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state_transition_timeout_ms: 1200
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velocity_stop_timeout_ms: 2000
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status_poll_period_ms: 10
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stopped_velocity_tolerance_rad_s: 0.001
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}
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zero_calibration {
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timeout_ms: 2000
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poll_period_ms: 10
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stable_sample_count: 5
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position_tolerance_counts: 10000
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stable_delta_counts: 1000
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}
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dc {
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enable: true
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reference_motor_id: 1
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sync0_cycle_us: 1000
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sync0_shift_us: 0
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sync_reference_clock_period: 1
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assign_activate: 768
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sync_monitor_period_ms: 1000
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}
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slaves { motor_id: 1 alias: 0 position: 0 }
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slaves { motor_id: 2 alias: 0 position: 1 }
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slaves { motor_id: 3 alias: 0 position: 2 }
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slaves { motor_id: 4 alias: 0 position: 3 }
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slaves { motor_id: 5 alias: 0 position: 4 }
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slaves { motor_id: 6 alias: 0 position: 5 }
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slaves { motor_id: 7 alias: 0 position: 6 }
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}
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joint_limits {
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enable: true
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source: JOINT_LIMIT_SOURCE_CUSTOM
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joints { joint_name: "R_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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}
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motors {
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motors { id: 1 joint_name: "R_SHOULDER_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 2 joint_name: "R_SHOULDER_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 3 joint_name: "R_SHOULDER_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 4 joint_name: "R_ELBOW_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 5 joint_name: "R_WRIST_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 6 joint_name: "R_WRIST_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 7 joint_name: "R_WRIST_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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}
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}
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}
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