|
prbt_hardware_support package from pilz_robots repopilz_control pilz_robots pilz_testutils prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
Package Summary
| Tags | No category tags. |
| Version | 0.5.3 |
| 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 | 2019-05-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Additional Links
Maintainers
- Alexander Gutenkunst
- Christian Henkel
- Hagen Slusarek
- Immanuel Martini
Authors
Overview
The prbt_hardware_support package contains files needed to control hardware functions of the PRBT manipulator like STO for Stop1 functionality. The Pilz hardware PNOZmulti and PSS4000 is supported using a Modbus connection.
There is no need to call these launch files directly; they are included from prbt_support/robot.launch.
Safe stop 1 (SS1)
The STO function (“Safe torque off”) of the robot arm is a safety function to immediately turn off torque of the drives. To allow a controlled stop, the safety controller is allowed to delay 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. |
Architecture
ROS API
ModbusClient
A Modbus client (for usage with the PNOZmulti or PSS4000) can be started with roslaunch prbt_hardware_support modbus_read_client.launch.
Published Topics
- ~/pilz_modbus_node/modbus_read (prbt_hardware_support/ModbusMsgInStamped)
- Holds information about the modbus holding register. Timestamp is only updated if the register content changed.
- ~/prbt/brake_test_required (std_msgs/Bool)
- True, if a brake test is required, false otherwise.
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_topic_name (default: "/pilz_modbus_node/modbus_read")
Please note:
- The parameters modbus_response_timeout and modbus_topic_name are
important for the Safe stop 1 functionality and must NOT be given, if the
modbus_read_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.
StoModbusAdapterNode
The PilzStoModbusAdapterNode is noticed via the topic /pilz_modbus_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
ModbusBrakeTestAnnouncerNode
The ModbusBrakeTestAnnouncerNode is noticed via the topic /pilz_modbus_node/modbus_read if the PSS4000 requests a brake test or if a brake test request is no longer prevailing. As a result, the requirement status is published on /prbt/brake_test_required.
BraketestExecutorNode
The BraketestExecutorNode offers the /execute_braketest service which, in interaction with the CanOpenBraketestAdapter,
executes a braketest on each drive of the manipulator.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | roscpp | |
| 1 | message_generation | |
| 2 | std_msgs | |
| 3 | std_srvs | |
| 3 | message_filters | |
| 1 | catkin | |
| 1 | message_runtime | |
| 2 | rostest | |
| 1 | rosunit | |
| 1 | cmake_modules | |
| 1 | code_coverage | |
| 1 | pilz_testutils |
System Dependencies
| Name |
|---|
| libmodbus-dev |
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| prbt_support | github-PilzDE-pilz_robots |
Launch files
- 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
-
-
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/sto_modbus_adapter_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]
-
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
- launch/modbus_brake_test_announcer_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
-
- api_spec_file [default: $(find prbt_hardware_support)/config/modbus_api_spec_pss4000.yaml]
-
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
- 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
-
-
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_read_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: 512]
- num_registers_to_read [default: 3]
-
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
Services
Plugins
Recent questions tagged prbt_hardware_support at answers.ros.org
|
|
prbt_hardware_support package from pilz_robots repopilz_control pilz_robots pilz_testutils prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
Package Summary
| Tags | No category tags. |
| Version | 0.4.8 |
| 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 | 2019-05-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Additional Links
Maintainers
- Alexander Gutenkunst
- Christian Henkel
- Hagen Slusarek
- Immanuel Martini
Authors
Overview
The prbt_hardware_support package contains files needed to control hardware functions of the PRBT manipulator like STO for Stop1 functionality. The Pilz hardware PNOZmulti and PSS4000 is supported using a Modbus connection.
There is no need to call these launch files directly; they are included from prbt_support/robot.launch.
Safe stop 1 (SS1)
The STO function (“Safe torque off”) of the robot arm is a safety function to immediately turn off torque of the drives. To allow a controlled stop, the safety controller is allowed to delay 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. |
Architecture
ROS API
ModbusClient
A Modbus client (for usage with the PNOZmulti or PSS4000) can be started with roslaunch prbt_hardware_support modbus_read_client.launch.
Published Topics
- ~/pilz_modbus_node/modbus_read (prbt_hardware_support/ModbusMsgInStamped)
- Holds information about the modbus holding register. Timestamp is only updated if the register content changed.
- ~/prbt/brake_test_required (std_msgs/Bool)
- True, if a brake test is required, false otherwise.
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_topic_name (default: "/pilz_modbus_node/modbus_read")
Please note:
- The parameters modbus_response_timeout and modbus_topic_name are
important for the Safe stop 1 functionality and must NOT be given, if the
modbus_read_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.
StoModbusAdapterNode
The PilzStoModbusAdapterNode is noticed via the topic /pilz_modbus_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
ModbusBrakeTestAnnouncerNode
The ModbusBrakeTestAnnouncerNode is noticed via the topic /pilz_modbus_node/modbus_read if the PSS4000 requests a brake test or if a brake test request is no longer prevailing. As a result, the requirement status is published on /prbt/brake_test_required.
BraketestExecutorNode
The BraketestExecutorNode offers the /execute_braketest service which, in interaction with the CanOpenBraketestAdapter,
executes a braketest on each drive of the manipulator.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | roscpp | |
| 1 | message_generation | |
| 2 | std_msgs | |
| 3 | std_srvs | |
| 3 | message_filters | |
| 1 | catkin | |
| 1 | message_runtime | |
| 2 | rostest | |
| 1 | rosunit | |
| 1 | cmake_modules | |
| 1 | code_coverage | |
| 1 | pilz_testutils |
System Dependencies
| Name |
|---|
| libmodbus-dev |
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| prbt_support | github-PilzDE-pilz_robots |
Launch files
- 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
-
-
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/sto_modbus_adapter_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]
-
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
- launch/modbus_brake_test_announcer_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
-
- api_spec_file [default: $(find prbt_hardware_support)/config/modbus_api_spec_pss4000.yaml]
-
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
- 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
-
-
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_read_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: 512]
- num_registers_to_read [default: 3]
-
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