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added example configuration files for generic slaves (#4)
* added example configuration files for generic slaves * fixed dependencies
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‎README.md‎

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@@ -7,6 +7,7 @@ Example repository for the [EtherCAT Driver ROS2 stack](https://github.com/ICube
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This repository contains the following example packages :
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- EtherCAT compatible CIA402 motor drive (example using Maxon EPOS3)
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- Custom Force Sensor EtherCAT slave using strain gauges and EasyCAT
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- Example configuration files for the some EtherCAT modules
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## Contacts ##
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![icube](https://icube.unistra.fr/fileadmin/templates/DUN/icube/images/logo.png)

‎ethercat_slave_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(ethercat_slave_description)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY config
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()

‎ethercat_slave_description/README.md‎

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# ethercat_slave_description
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Collection of EtherCAT module example configurations for the `ethercat_driver`.
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## Modules using `GenericEcSlave`
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The list of available example EtherCAT module configurations for the `GenericEcSlave` Hardware Interface plugin.
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### Beckhoff
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- **Beckhoff_EL1008**: EtherCAT Terminal, 8-channel digital input, 24 V DC, 3 ms.
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- **Beckhoff_EL1018**: EtherCAT Terminal, 8-channel digital input, 24 V DC, 10 us.
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- **Beckhoff_EL2008**: EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A.
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- **Beckhoff_EL2088**: EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A, ground switching.
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- **Beckhoff_EL2124**: EtherCAT Terminal, 4-channel digital output, 5 V DC, 20 mA.
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- **Beckhoff_EL3102**: EtherCAT Terminal, 2-channel analog input, voltage, ±10 V, 16 bit, differential.
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- **Beckhoff_EL3104**: EtherCAT Terminal, 4-channel analog input, voltage, ±10 V, 16 bit, differential.
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- **Beckhoff_EL4132**: EtherCAT Terminal, 2-channel analog output, voltage, ±10 V, 16 bit.
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- **Beckhoff_EL4134**: EtherCAT Terminal, 4-channel analog output, voltage, ±10 V, 16 bit.
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- **Beckhoff_EL5101**: EtherCAT Terminal, 1-channel encoder interface, incremental, 5 V DC (DIFF RS422, TTL), 1 MHz.
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### ATI
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- **ATI_FTSensor**: ATI EtherCAT F/T Sensor
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### Advantech
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- **AMAX-5051**: Digital Input Module, 8-channel digital input, 24 V DC, 4 ms.
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- **AMAX-5056**: Sink-type Digital Output Module, 8-channel digital output, 24 V DC, 0.3 A.
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### Omron
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- **Omron_NX_ECC201_NX_ID5442**: Omron EtherCAT Coupler NX_ECC201 with Input module NX_ID5442.
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- **Omron_NX_ECC201_NX_OD5256**: Omron EtherCAT Coupler NX_ECC201 with Output module NX_OD5256.
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## Motor drive modules using `EcCiA402Drive`
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The list of available example EtherCAT motor drive module configurations for the `EcCiA402Drive` Hardware Interface plugin.
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### Maxon
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- **EPOS3**: EPOS3 70/10 EtherCAT, digital positioning controller, 10 A, 11 - 70 VDC
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- Plugin : `EcCiA402Drive`
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### Schneider Electric
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- **Schneider_ATV320**: Schneider Electric Variable frequency drive. Coupled with VW3A3601 communication card.
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- Plugin : `EcCiA402Drive`
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### Elmo
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- **Elmo Gold**: Elmo Gold servo drive.
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- Plugin : `EcCiA402Drive`
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### Technosoft
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- **Technosoft IPOS 3604**: Technosoft IPOS 3064 motor drive.
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- Plugin : `EcCiA402Drive`

‎ethercat_slave_description/config/advantech/advantech_amax5051.yaml‎

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# Configuration file for Advantech AMAX-5051
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# Description : 8-ch Digital Input EtherCAT Slice IO Module
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vendor_id: 0x000013FE
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product_id: 0x00035051
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tpdo: # TxPDO
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- index: 0x1a00
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channels:
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- {index: 0x3001, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
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- {index: 0x3001, sub_index: 0x02, type: bool, mask: 2, state_interface: d_input.2}
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- {index: 0x3001, sub_index: 0x03, type: bool, mask: 4, state_interface: d_input.3}
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- {index: 0x3001, sub_index: 0x04, type: bool, mask: 8, state_interface: d_input.4}
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- {index: 0x3001, sub_index: 0x05, type: bool, mask: 16, state_interface: d_input.5}
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- {index: 0x3001, sub_index: 0x06, type: bool, mask: 32, state_interface: d_input.6}
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- {index: 0x3001, sub_index: 0x07, type: bool, mask: 64, state_interface: d_input.7}
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- {index: 0x3001, sub_index: 0x08, type: bool, mask: 128, state_interface: d_input.8}
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sm: # Sync Manager
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- {index: 0, type: input, pdo: tpdo, watchdog: disable}

‎ethercat_slave_description/config/advantech/advantech_amax5056.yaml‎

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# Configuration file for Advantech AMAX-5056
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# Description : 8-ch Sink-type Digital Output EtherCAT Slice IO Module
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vendor_id: 0x000013FE
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product_id: 0x00035056
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rpdo: # RxPDO
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- index: 0x1600
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channels:
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- {index: 0x3101, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
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- {index: 0x3101, sub_index: 0x02, type: bool, mask: 2, command_interface: d_output.2}
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- {index: 0x3101, sub_index: 0x03, type: bool, mask: 4, command_interface: d_output.3}
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- {index: 0x3101, sub_index: 0x04, type: bool, mask: 8, command_interface: d_output.4}
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- {index: 0x3101, sub_index: 0x05, type: bool, mask: 16, command_interface: d_output.5}
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- {index: 0x3101, sub_index: 0x06, type: bool, mask: 32, command_interface: d_output.6}
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- {index: 0x3101, sub_index: 0x07, type: bool, mask: 64, command_interface: d_output.7}
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- {index: 0x3101, sub_index: 0x08, type: bool, mask: 128, command_interface: d_output.8}
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sm: # Sync Manager
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- {index: 0, type: output, pdo: rpdo, watchdog: enable}

‎ethercat_slave_description/config/ati/ati_ftsensor.yaml‎

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# Configuration file for ATI EtherCAT F/T Sensor
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# Description : ATI EtherCAT F/T Sensor
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vendor_id: 0x00000732
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product_id: 0x26483052
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rpdo: # RxPDO
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- index: 0x1601
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channels:
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- {index: 0x6000, sub_index: 0x01, type: uint32} # Control 1
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- {index: 0x6000, sub_index: 0x02, type: uint32} # Control 2
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tpdo: # TxPDO
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- index: 0x1a00
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channels:
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- {index: 0x6000, sub_index: 0x01, type: int32, state_interface: force.x} # Fx/Gage0
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- {index: 0x6000, sub_index: 0x02, type: int32, state_interface: force.y} # Fy/Gage1
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- {index: 0x6000, sub_index: 0x03, type: int32, state_interface: force.z} # Fz/Gage2
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- {index: 0x6000, sub_index: 0x04, type: int32, state_interface: torque.x} # Tx/Gage3
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- {index: 0x6000, sub_index: 0x05, type: int32, state_interface: torque.y} # Ty/Gage4
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- {index: 0x6000, sub_index: 0x06, type: int32, state_interface: torque.z} # Tz/Gage5
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- {index: 0x6010, sub_index: 0x00, type: uint32} # Status Code
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- {index: 0x6020, sub_index: 0x00, type: uint32} # Sample Counter
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sm: # Sync Manager
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- {index: 0, type: output, pdo: ~, watchdog: disable}
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- {index: 1, type: input, pdo: ~, watchdog: disable}
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- {index: 2, type: output, pdo: rpdo, watchdog: enable}
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- {index: 3, type: input, pdo: tpdo, watchdog: disable}

‎ethercat_slave_description/config/beckhoff/beckhoff_el1008.yaml‎

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# Configuration file for Beckhoff EL1008
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# Description : EtherCAT Terminal, 8-channel digital input, 24 V DC, 3 ms.
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vendor_id: 0x00000002
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product_id: 0x03f03052
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tpdo: # TxPDO
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- index: 0x1a00
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channels:
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- {index: 0x6000, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
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- index: 0x1a01
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channels:
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- {index: 0x6010, sub_index: 0x01, type: bool, mask: 2, state_interface: d_input.2}
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- index: 0x1a02
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channels:
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- {index: 0x6020, sub_index: 0x01, type: bool, mask: 4, state_interface: d_input.3}
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- index: 0x1a03
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channels:
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- {index: 0x6030, sub_index: 0x01, type: bool, mask: 8, state_interface: d_input.4}
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- index: 0x1a04
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channels:
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- {index: 0x6040, sub_index: 0x01, type: bool, mask: 16, state_interface: d_input.5}
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- index: 0x1a05
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channels:
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- {index: 0x6050, sub_index: 0x01, type: bool, mask: 32, state_interface: d_input.6}
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- index: 0x1a06
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channels:
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- {index: 0x6060, sub_index: 0x01, type: bool, mask: 64, state_interface: d_input.7}
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- index: 0x1a07
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channels:
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- {index: 0x6070, sub_index: 0x01, type: bool, mask: 128, state_interface: d_input.8}
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sm: # Sync Manager
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- {index: 0, type: input, pdo: tpdo, watchdog: disable}

‎ethercat_slave_description/config/beckhoff/beckhoff_el1018.yaml‎

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# Configuration file for Beckhoff EL1018
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# Description : EtherCAT Terminal, 8-channel digital input, 24 V DC, 10 us.
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vendor_id: 0x00000002
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product_id: 0x03fa3052
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tpdo: # TxPDO
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- index: 0x1a00
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channels:
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- {index: 0x6000, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
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- index: 0x1a01
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channels:
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- {index: 0x6010, sub_index: 0x01, type: bool, mask: 2, state_interface: d_input.2}
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- index: 0x1a02
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channels:
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- {index: 0x6020, sub_index: 0x01, type: bool, mask: 4, state_interface: d_input.3}
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- index: 0x1a03
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channels:
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- {index: 0x6030, sub_index: 0x01, type: bool, mask: 8, state_interface: d_input.4}
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- index: 0x1a04
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channels:
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- {index: 0x6040, sub_index: 0x01, type: bool, mask: 16, state_interface: d_input.5}
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- index: 0x1a05
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channels:
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- {index: 0x6050, sub_index: 0x01, type: bool, mask: 32, state_interface: d_input.6}
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- index: 0x1a06
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channels:
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- {index: 0x6060, sub_index: 0x01, type: bool, mask: 64, state_interface: d_input.7}
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- index: 0x1a07
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channels:
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- {index: 0x6070, sub_index: 0x01, type: bool, mask: 128, state_interface: d_input.8}
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sm: # Sync Manager
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- {index: 0, type: input, pdo: tpdo, watchdog: disable}

‎ethercat_slave_description/config/beckhoff/beckhoff_el2008.yaml‎

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# Configuration file for Beckhoff EL2008
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# Description : EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A.
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vendor_id: 0x00000002
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product_id: 0x07d83052
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rpdo: # RxPDO
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- index: 0x1600
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channels:
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- {index: 0x7000, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
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- index: 0x1601
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channels:
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- {index: 0x7010, sub_index: 0x01, type: bool, mask: 2, command_interface: d_output.2}
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- index: 0x1602
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channels:
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- {index: 0x7020, sub_index: 0x01, type: bool, mask: 4, command_interface: d_output.3}
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- index: 0x1603
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channels:
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- {index: 0x7030, sub_index: 0x01, type: bool, mask: 8, command_interface: d_output.4}
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- index: 0x1604
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channels:
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- {index: 0x7040, sub_index: 0x01, type: bool, mask: 16, command_interface: d_output.5}
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- index: 0x1605
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channels:
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- {index: 0x7050, sub_index: 0x01, type: bool, mask: 32, command_interface: d_output.6}
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- index: 0x1606
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channels:
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- {index: 0x7060, sub_index: 0x01, type: bool, mask: 64, command_interface: d_output.7}
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- index: 0x1607
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channels:
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- {index: 0x7070, sub_index: 0x01, type: bool, mask: 128, command_interface: d_output.8}
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sm: # Sync Manager
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- {index: 0, type: output, pdo: rpdo, watchdog: enable}

‎ethercat_slave_description/config/beckhoff/beckhoff_el2088.yaml‎

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# Configuration file for Beckhoff EL2088
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# Description : EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A, ground switching.
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vendor_id: 0x00000002
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product_id: 0x08283052
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rpdo: # RxPDO
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- index: 0x1600
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channels:
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- {index: 0x7000, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
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- index: 0x1601
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channels:
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- {index: 0x7010, sub_index: 0x01, type: bool, mask: 2, command_interface: d_output.2}
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- index: 0x1602
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channels:
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- {index: 0x7020, sub_index: 0x01, type: bool, mask: 4, command_interface: d_output.3}
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- index: 0x1603
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channels:
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- {index: 0x7030, sub_index: 0x01, type: bool, mask: 8, command_interface: d_output.4}
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- index: 0x1604
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channels:
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- {index: 0x7040, sub_index: 0x01, type: bool, mask: 16, command_interface: d_output.5}
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- index: 0x1605
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channels:
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- {index: 0x7050, sub_index: 0x01, type: bool, mask: 32, command_interface: d_output.6}
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- index: 0x1606
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channels:
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- {index: 0x7060, sub_index: 0x01, type: bool, mask: 64, command_interface: d_output.7}
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- index: 0x1607
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channels:
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- {index: 0x7070, sub_index: 0x01, type: bool, mask: 128, command_interface: d_output.8}
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sm: # Sync Manager
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- {index: 0, type: output, pdo: rpdo, watchdog: enable}

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