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Package Summary

Tags No category tags.
Version 0.5.13
License LGPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-12-04
Dev Status DEVELOPED
Released RELEASED

Package Description

Control hardware functions of the PRBT manipulator like STO for Stop1 functionality.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.

Overview

The prbt_hardware_support package contains files supporting the certification of a robot system including the PRBT manipulator according to DIN EN ISO 10218-1. As safety controllers the Pilz hardware PNOZmulti and PSS4000 are supported. A Modbus connection is used for the communication between ROS <-> safety controller.

There is no need to call these launch files directly; they are included from prbt_support/robot.launch.

STO

The STO function (“Safe torque off”) of the robot arm is a safety function to immediately turn off torque of the drives.

SBC

The SBC function ("Safe brake control") of the robot arm is a safety function which is used in conjunction with the STO and prevents a motion when the torque of the drives is turned off.

Safe stop 1 (SS1)

To allow a controlled stop, the safety controller delays the STO signal by several milliseconds. This package opens a modbus connection to the safety controller (PNOZmulti or PSS4000). The safety controller sends an emergency stop signal via Modbus immediately so that ros_control has a short time interval to stop the drives via a brake ramp. The TCP could for example brake on the current trajectory. After execution of the brake ramp, the drivers are halted. Even if ROS would fail, the safety controller turns off the motors via STO (that would be a Stop 0 then).

Possible error cases and their handling

Error cases Handling
Modbus client crashes ROS system is shutdown which leads to an abrupt stop of the robot.
STO Modbus adapter crashes ROS system is shutdown which leads to an abrupt stop of the robot.
Connection loss between PNOZmulti/PSS4000 & Modbus client Stop 1 is triggered
System overload (messages don't arrive in time) In case a Stop 1 message does not arrive in time, the safety controller will automatically perform a hard stop. In case a Stop 1-release message does not get through, brakes will remain closed.
STO Modbus adapter cannot connect to stop services ROS system will not start.
STO Modbus adapter cannot connect to recover services Node does start and robot can be moved until a stop is triggered. Afterwards the brakes will remain closed.

Brake tests

Brake tests are an integral part of the SBC, since they detect misfunctions of the brakes or the brake control in general. Brake tests for each drive have to be executed at a regular interval. When the safety controller requests brake tests, they have to be executed within 1 hour, else the robot cannot be moved anymore.

Operation Modes

The robot system can be controlled in various modes.

These modes are: - T1: Speed reduced to 250 mm/s (each robot-frame), enabling switch must be pressed - T2*: The robot moves at full speed but still the enabling switch must be pressed - AUTOMATIC: The robot moves at full speed and follows a predefined program/process. No enabling switch is needed but safety has to be ensured by safety peripherie (fences, light curtains, ...).

See DIN EN ISO 10218-1 for more details or contact us: ros@pilz.de

Note

In operation mode T1 the robot can be moved as usual. However, if an attempt to exceed the speed limit of 250 mm/s in T1 is detected, the prevailing motion is aborted and a controlled stop is performed.

Architecture

The following diagram shows all components of the system and the connections between them.

Component diagram of overall architecture

ROS API

ModbusClient

A Modbus client (for usage with the PNOZmulti or PSS4000) can be started with roslaunch prbt_hardware_support modbus_client.launch.

Published Topics

  • ~/pilz_modbus_client_node/modbus_read (prbt_hardware_support/ModbusMsgInStamped)
    • Holds information about the modbus holding register. Timestamp is only updated if the register content changed.

Parameters

  • modbus_server_ip
  • modbus_server_port
  • index_of_first_register_to_read
  • num_registers_to_read
  • modbus_connection_retries (default: 10)
  • modbus_connection_retry_timeout - timeout between retries (default: 1s)
  • modbus_response_timeout (default: 20ms)
  • modbus_read_topic_name (default: "/pilz_modbus_client_node/modbus_read")
  • modbus_write_service_name (default: "/pilz_modbus_client_node/modbus_write")

Please note: - The parameters modbus_response_timeout and modbus_read_topic_name are important for the Safe stop 1 functionality and must NOT be given, if the pilz_modbus_client_node is used as part of the Safe stop 1 functionality. If the parameters are not given the default values for these parameters are used.

ModbusAdapterStoNode

The ModbusAdapterSto is noticed via the topic /pilz_modbus_client_node/modbus_read if the STO is true or false and reacts as follows calling the corresponding services of the controllers and drivers: - STO true: enable drives, unhold controllers - STO false: hold controllers, disable drives

ModbusAdapterBrakeTestNode

The ModbusAdapterBrakeTestNode offers the /prbt/brake_test_required service which informs if the PSS4000 requests a brake test or if a brake test request is no longer prevailing.

BraketestExecutorNode

The BraketestExecutorNode offers the /execute_braketest service which, in interaction with the CanOpenBraketestAdapter, executes a braketest on each drive of the manipulator. This can only be done, if the robot is stopped. So, if you want to execute a braketest, ensure that the robot stands still.

ModbusAdapterOperationModeNode

The ModbusAdapterOperationModeNode publishes the active operation mode on the topic /prbt/operation_mode everytime it changes and offers the /get_operation_mode service for accessing the active operation mode.

Use rosmsg show prbt_hardware_support/OperationModes to see the definition of each value.

OperationModeSetupExecutorNode

The OperationModeSetupExecutorNode sets the speed limit for each frame based on the active operation mode and offers a service /prbt/get_speed_override. The speed override is chosen such that a speed limit violation is unlikely if all robot motions are scaled with it.

Parameters

  • speed_limit_t1 m/s
  • speed_limit_automatic m/s

SpeedObserverNode

The SpeedObserverNode observes the speed of the robot frames and triggers a controlled stop, if the current speed limit is exceeded.

Parameters

  • frequency Hz
  • additional_frames (optional): lets the user specify frames to observe in addition to the robot frames of the prevailing robot model

*Not supported yet

CHANGELOG

Changelog for package prbt_hardware_support

0.5.13 (2019-12-04)

  • Use brake-test definitions from pilz_msgs
  • Contributors: Pilz GmbH and Co. KG

0.5.12 (2019-11-28)

  • Remove srv definition for speed override (moved to the package pilz_msgs)
  • Contributors: Pilz GmbH and Co. KG

0.5.11 (2019-11-22)

  • Fix clang compiler errors (#283)
  • Contributors: Pilz GmbH and Co. KG

0.5.10 (2019-10-08)

  • Add missing dependency on tf2_geometry_msgs (#264)
  • Minor fixes
  • Contributors: Pilz GmbH and Co. KG

0.5.9 (2019-10-07)

  • Add service for getting the global speed override
  • Add modbus register for enabling temporary movement
  • Add Frame speed monitoring
  • Test fixes and improvements
  • Contributors: Pilz GmbH and Co. KG
  • Add speed observing dependent on operation mode
  • Contributors: Pilz GmbH and Co. KG

0.5.8 (2019-09-10)

  • add missing transition to STO state machine
  • revise STO specification
  • integrate clang-tidy via CMake flag
  • Contributors: Pilz GmbH and Co. KG

0.5.7 (2019-08-29)

  • Add state machine for STO handling to allow skipping of hold/unhold if needed
  • add operation mode functionality
  • add write capability to PilzModbusReadClient, rename PilzModbusReadClient -> PilzModbusClient
  • enter hold mode at braketest execution
  • automatically determine range for reading modbus registers
  • only read modbus registers that are explicitly configured (not in a single block)
  • separate api definitions for read and write
  • brake test result can be sent to FS controller
  • Contributors: Pilz GmbH and Co. KG

0.5.6 (2019-06-12)

  • Essentially reverts wrong fix (depend on canopen_chain_node) from 0.5.5

0.5.5 (2019-06-12)

  • Add missing depend (CATKIN_DEPENDS and <run_depend>) on canopen_chain_node

0.5.4 (2019-05-27)

  • increased modbus response timeout to 20ms
  • publish brake test requests obtained from safety controller via modbus
  • sto_modbus_adapter waits for the services to appear instead of throwing exceptions
  • Add ability to execute a braketest on each drive.
  • Add service to access the active operation mode
  • Contributors: Pilz GmbH and Co. KG

0.5.3 (2019-04-24)

  • cleanup CMakeLists of prbt_hardware_support
  • update the documentation
  • more precise error output when failing to read modbus register
  • Contributors: Pilz GmbH and Co. KG

0.5.2 (2019-02-21)

  • Update used pipeline in test from command_planner to pilz_command_planner
  • Fix PilzModbusReadClient unittest
  • Contributors: Pilz GmbH and Co. KG

0.5.1 (2018-11-30)

  • melodic release based on kinetic version 0.4.3
  • Contributors: Pilz GmbH and Co. KG

0.5.0 (2018-11-07)

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

  • Fix missing include on std_srvs

0.4.1 (2018-11-07)

  • Use Modbus API v2 due to wrongly specified version 1

0.4.0 (2018-11-06)

  • Modbus client node and STO modbus adapter node for Stop 1 functionality

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/operation_mode_setup_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • speed_limit_t1 [default: 0.25]
      • speed_limit_automatic [default: 5.0]
  • launch/stop1_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/canopen_braketest_adapter_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/speed_observer_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • frequency [default: 20]
  • launch/modbus_adapter_brake_test_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_pss4000.yaml]
  • launch/brake_test_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/fake_safety_interface.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/brake_test.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_pss4000.yaml]
  • launch/modbus_adapter_sto_node.launch
    • Copyright (c) 2018 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • index_of_first_register_to_read [default: 512]
  • launch/modbus_adapter_operation_mode_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/modbus_client.launch
    • Copyright (c) 2018 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • modbus_server_ip [default: 169.254.60.1]
      • modbus_server_port [default: 502]
      • index_of_first_register_to_read [default: ]
      • num_registers_to_read [default: ]
      • safety_hw [default: pss4000]
  • launch/operation_mode.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .

Plugins

No plugins found.

Recent questions tagged prbt_hardware_support at answers.ros.org

Package Summary

Tags No category tags.
Version 0.4.11
License LGPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-10-15
Dev Status DEVELOPED
Released RELEASED

Package Description

Control hardware functions of the PRBT manipulator like STO for Stop1 functionality.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.

Overview

The prbt_hardware_support package contains files supporting the certification of a robot system including the PRBT manipulator according to DIN EN ISO 10218-1. As safety controllers the Pilz hardware PNOZmulti and PSS4000 are supported. A Modbus connection is used for the communication between ROS <-> safety controller.

There is no need to call these launch files directly; they are included from prbt_support/robot.launch.

STO

The STO function (“Safe torque off”) of the robot arm is a safety function to immediately turn off torque of the drives.

SBC

The SBC function ("Safe brake control") of the robot arm is a safety function which is used in conjunction with the STO and prevents a motion when the torque of the drives is turned off.

Safe stop 1 (SS1)

To allow a controlled stop, the safety controller delays the STO signal by several milliseconds. This package opens a modbus connection to the safety controller (PNOZmulti or PSS4000). The safety controller sends an emergency stop signal via Modbus immediately so that ros_control has a short time interval to stop the drives via a brake ramp. The TCP could for example brake on the current trajectory. After execution of the brake ramp, the drivers are halted. Even if ROS would fail, the safety controller turns off the motors via STO (that would be a Stop 0 then).

Possible error cases and their handling

Error cases Handling
Modbus client crashes ROS system is shutdown which leads to an abrupt stop of the robot.
STO Modbus adapter crashes ROS system is shutdown which leads to an abrupt stop of the robot.
Connection loss between PNOZmulti/PSS4000 & Modbus client Stop 1 is triggered
System overload (messages don't arrive in time) In case a Stop 1 message does not arrive in time, the safety controller will automatically perform a hard stop. In case a Stop 1-release message does not get through, brakes will remain closed.
STO Modbus adapter cannot connect to stop services ROS system will not start.
STO Modbus adapter cannot connect to recover services Node does start and robot can be moved until a stop is triggered. Afterwards the brakes will remain closed.

Brake tests

Brake tests are an integral part of the SBC, since they detect misfunctions of the brakes or the brake control in general. Brake tests for each drive have to be executed at a regular interval. When the safety controller requests brake tests, they have to be executed within 1 hour, else the robot cannot be moved anymore.

Operation Modes

The robot system can be controlled in various modes.

These modes are: - T1: Speed reduced to 250 mm/s (each robot-frame), enabling switch must be pressed - T2*: The robot moves at full speed but still the enabling switch must be pressed - AUTOMATIC: The robot moves at full speed and follows a predefined program/process. No enabling switch is needed but safety has to be ensured by safety peripherie (fences, light curtains, ...).

See DIN EN ISO 10218-1 for more details or contact us: ros@pilz.de

Note

In operation mode T1 the robot can be moved as usual. However, if an attempt to exceed the speed limit of 250 mm/s in T1 is detected, the prevailing motion is aborted and a controlled stop is performed.

Architecture

The following diagram shows all components of the system and the connections between them.

Component diagram of overall architecture

ROS API

ModbusClient

A Modbus client (for usage with the PNOZmulti or PSS4000) can be started with roslaunch prbt_hardware_support modbus_client.launch.

Published Topics

  • ~/pilz_modbus_client_node/modbus_read (prbt_hardware_support/ModbusMsgInStamped)
    • Holds information about the modbus holding register. Timestamp is only updated if the register content changed.

Parameters

  • modbus_server_ip
  • modbus_server_port
  • index_of_first_register_to_read
  • num_registers_to_read
  • modbus_connection_retries (default: 10)
  • modbus_connection_retry_timeout - timeout between retries (default: 1s)
  • modbus_response_timeout (default: 20ms)
  • modbus_read_topic_name (default: "/pilz_modbus_client_node/modbus_read")
  • modbus_write_service_name (default: "/pilz_modbus_client_node/modbus_write")

Please note: - The parameters modbus_response_timeout and modbus_read_topic_name are important for the Safe stop 1 functionality and must NOT be given, if the pilz_modbus_client_node is used as part of the Safe stop 1 functionality. If the parameters are not given the default values for these parameters are used.

ModbusAdapterStoNode

The ModbusAdapterSto is noticed via the topic /pilz_modbus_client_node/modbus_read if the STO is true or false and reacts as follows calling the corresponding services of the controllers and drivers: - STO true: enable drives, unhold controllers - STO false: hold controllers, disable drives

ModbusAdapterBrakeTestNode

The ModbusAdapterBrakeTestNode offers the /prbt/brake_test_required service which informs if the PSS4000 requests a brake test or if a brake test request is no longer prevailing.

BraketestExecutorNode

The BraketestExecutorNode offers the /execute_braketest service which, in interaction with the CanOpenBraketestAdapter, executes a braketest on each drive of the manipulator. This can only be done, if the robot is stopped. So, if you want to execute a braketest, ensure that the robot stands still.

ModbusAdapterOperationModeNode

The ModbusAdapterOperationModeNode publishes the active operation mode on the topic /prbt/operation_mode everytime it changes and offers the /get_operation_mode service for accessing the active operation mode.

Use rosmsg show prbt_hardware_support/OperationModes to see the definition of each value.

OperationModeSetupExecutorNode

The OperationModeSetupExecutorNode sets the speed limit for each frame based on the active operation mode and offers a service /prbt/get_speed_override. The speed override is chosen such that a speed limit violation is unlikely if all robot motions are scaled with it.

Parameters

  • speed_limit_t1 m/s
  • speed_limit_automatic m/s

SpeedObserverNode

The SpeedObserverNode observes the speed of the robot frames and triggers a controlled stop, if the current speed limit is exceeded.

Parameters

  • frequency Hz
  • additional_frames (optional): lets the user specify frames to observe in addition to the robot frames of the prevailing robot model

*Not supported yet

CHANGELOG

Changelog for package prbt_hardware_support

Forthcoming

  • Add service for getting the global speed override
  • Add modbus register for enabling temporary movement
  • Add Frame speed monitoring
  • Test fixes and improvements
  • Add speed observing dependent on operation mode
  • Contributors: Pilz GmbH and Co. KG

0.4.11 (2019-09-11)

  • add missing transition to STO state machine
  • revise STO specification
  • integrate clang-tidy via CMake flag
  • Contributors: Pilz GmbH and Co. KG

0.4.10 (2019-09-03)

  • Add state machine for STO handling to allow skipping of hold/unhold if needed
  • add operation mode functionality
  • add write capability to PilzModbusReadClient, rename PilzModbusReadClient -> PilzModbusClient
  • enter hold mode at braketest execution
  • automatically determine range for reading modbus registers
  • only read modbus registers that are explicitly configured (not in a single block)
  • separate api definitions for read and write
  • brake test result can be sent to FS controller
  • Contributors: Pilz GmbH and Co. KG

0.4.9 (2019-06-19)

  • increased modbus response timeout to 20ms
  • publish brake test requests obtained from safety controller via modbus
  • sto_modbus_adapter waits for the services to appear instead of throwing exceptions
  • Add ability to execute a braketest on each drive.
  • Contributors: Pilz GmbH and Co. KG

0.4.8 (2019-04-24)

  • cleanup CMakeLists of prbt_hardware_support
  • update the documentation
  • Contributors: Pilz GmbH and Co. KG

0.4.7 (2019-02-15)

  • drop outdated can configuration
  • Contributors: Pilz GmbH and Co. KG

0.4.6 (2019-01-18)

  • Update used pipeline in test from command_planner to pilz_command_planner

0.4.5 (2019-01-16)

0.4.4 (2019-01-16)

  • Fix PilzModbusReadClient unittest

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

  • Fix missing include on std_srvs

0.4.1 (2018-11-07)

  • Use Modbus API v2 due to wrongly specified version 1

0.4.0 (2018-11-06)

  • Modbus client node and STO modbus adapter node for Stop 1 functionality

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/operation_mode_setup_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • speed_limit_t1 [default: 0.25]
      • speed_limit_automatic [default: 5.0]
  • launch/stop1_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/canopen_braketest_adapter_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/speed_observer_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • frequency [default: 20]
  • launch/modbus_adapter_brake_test_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_pss4000.yaml]
  • launch/brake_test_executor_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/brake_test.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_pss4000.yaml]
  • launch/modbus_adapter_sto_node.launch
    • Copyright (c) 2018 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • index_of_first_register_to_read [default: 512]
  • launch/modbus_adapter_operation_mode_node.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/modbus_client.launch
    • Copyright (c) 2018 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
      • modbus_server_ip [default: 169.254.60.1]
      • modbus_server_port [default: 502]
      • index_of_first_register_to_read [default: ]
      • num_registers_to_read [default: ]
      • safety_hw [default: pss4000]
  • launch/operation_mode.launch
    • Copyright (c) 2019 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .

Plugins

No plugins found.

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