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Programming the Velo MCB

The Velo MCB needs to be programmed with the right name for the actuator. The utility that can do that is called motorconf and lives in the ethercat_hardware package.

To see the current name programmed into the MCB:

roscd ethercat_hardware
pr2-grant ./motorconf -ieth0

You should see an output along the lines of:

[DEBUG] [1365555420.253989026]: Device #00: WG06 (0x67d60e) Firmware Revision 1.02, PCB Revision E.01, Serial #: 1098
[DEBUG] [1365555420.255918352]:             Serial #: 01098
[DEBUG] [1365555420.262040250]:             Name: l_velo_gripper_motor
[ WARN] [1365555420.266888302]: l_velo_gripper_motor EEPROM does not contain motor heating model parameters
[DEBUG] [1365555420.268262462]: No calibration offset was stored on device l_velo_gripper_motor

The Name should be l_velo_gripper_motor or r_velo_gripper_motor depending on which side of the PR2 you intend to mount the Velo on. If you're using the Velo standalone, either of those will work, but you will need to choose the appropriate launch file later based on whether the Velo is configured for the left of right arm.

If the name is incorrect, you will need to program the MCB to change it. Use the following command:

pr2-grant ./motorconf -ieth0 -a `rospack find velo_controller`/actuators.conf -n l_velo_gripper_motor -d0 -m 222055 -b wg006 -p

Where:

• -d# tells you which device on the chain you are programming
• -n ### sets the name you want