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

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