update Fix_ESI

canonical-robots · Dec 19, 2018 · 57853d7 · 57853d7
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diff --git a/docs/Fix_ESI.md b/docs/Fix_ESI.md
@@ -1,21 +1,103 @@
 修复ESI (EtherCAT Slave Infomation)
 ====
 
-如果启动elfin_ros_control.launch（或 elfin_ros_control_v2.launch）时遇到类似以下的报错，原因可能是机械臂上的ESI固件错误，也可能是运行的launch文件与机械臂EtherCAT从站版本不一致（详见： [README.md](../README.md)）。
+如果启动elfin_ros_control.launch（或 elfin_ros_control_v2.launch）时遇到类似以下的报错，可能有下面两个原因。
 ```
 ERROR: slave_no(1) : channel(352) is larger than Input bits (256)
 ```
+## 原因1
+你可能用了错的launch文件（详见： [README.md](../README.md)）。如果不知道所用的Elfin的从站版本的话，只要把两个launch文件都试一下即可。
+```sh
+$ sudo chrt 10 bash
+$ roslaunch elfin_robot_bringup elfin_ros_control.launch
+```
+或
+```sh
+$ sudo chrt 10 bash
+$ roslaunch elfin_robot_bringup elfin_ros_control_v2.launch
+```
+
+## 原因2
+如果确定不是第一个原因，可以考虑是机械臂上的ESI固件错误。
 
 ### 修复ESI固件的方法
 
-打开elfin_ethercat_driver/config/write_esi.yaml文件，对网卡名，希望修复的从站编号以及写入的esi文件进行配置。本软件包提供了两个esi文件: elfin_motor.esi和elfin_motor_v2.esi 。
+将Elfin通过网线连接到电脑。先通过`ifconfig`指令来确定与Elfin连接的网卡名称。本软件包默认的名称是eth0 。假如当前名称不是eth0的话，请在下面的步骤中对elfin_ethercat_driver/config/write_esi.yaml的相应部分进行修改。
+```
+eth_name: eth0
+```
+Elfin上共有4个EtherCAT从站，如果同一网卡没有连接其他EtherCAT设备的话，4个从站的编号如下图所示：
+![elfin_robot](images/elfin_ethercat_slaves.png)
 
-之后运行以下命令修复ESI
-```sh
-$ sudo chrt 10 bash
-$ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+如果有其他EtherCAT设备的话，请根据实际从站的编号对elfin_ethercat_driver/config/write_esi.yaml的相应部分进行修改。
 ```
+slave_no: [1, 2, 3]
+```
+以及
+```
+slave_no: [4]
+```
+
+#### 使用Version 1版本EtherCAT从站的Elfin
+* 写入模组的ESI  
+    将elfin_ethercat_driver/config/write_esi.yaml文件中的参数设置如下：
+    ```
+    eth_name: eth0
+    slave_no: [1, 2, 3]
+    esi_file: elfin_module.esi
+    ```
+
+    之后运行以下命令修复ESI
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+* 写入IO口的ESI  
+    将elfin_ethercat_driver/config/write_esi.yaml文件中的参数设置如下：
+    ```
+    eth_name: eth0
+    slave_no: [4]
+    esi_file: elfin_io_port.esi
+    ```
+
+    之后运行以下命令修复ESI
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+
+    最后重启机械臂即可完成修复。
+
+    为防误操作，修复后在elfin_ethercat_driver/script/路径下会生成各个从站原ESI的备份。
+
+#### 使用Version 2版本EtherCAT从站的Elfin
+* 写入模组的ESI  
+    将elfin_ethercat_driver/config/write_esi.yaml文件中的参数设置如下：
+    ```
+    eth_name: eth0
+    slave_no: [1, 2, 3]
+    esi_file: elfin_module_v2.esi
+    ```
+
+    之后运行以下命令修复ESI
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+* 写入IO口的ESI  
+    将elfin_ethercat_driver/config/write_esi.yaml文件中的参数设置如下：
+    ```
+    eth_name: eth0
+    slave_no: [4]
+    esi_file: elfin_io_port_v2.esi
+    ```
+
+    之后运行以下命令修复ESI
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
 
-最后重启机械臂即可完成修复。
+    最后重启机械臂即可完成修复。
 
-为防误操作，修复后在elfin_ethercat_driver/script/路径下会生成各个从站原ESI的备份。
+    为防误操作，修复后在elfin_ethercat_driver/script/路径下会生成各个从站原ESI的备份。
diff --git a/docs/Fix_ESI_english.md b/docs/Fix_ESI_english.md
@@ -1,21 +1,103 @@
 Fix ESI (EtherCAT Slave Infomation)
 ====
 
-If you got an error info as follows, you may need to fix ESI on the robot or just try another launch file(elfin_ros_control.launch/elfin_ros_control_v2.launch).
+If you got an error info as follows, there are two possible reasons.
 ```
 ERROR: slave_no(1) : channel(352) is larger than Input bits (256)
 ```
 
-### How to fix ESI
-
-Open the elfin_ethercat_driver/config/write_esi.yaml file and configure the parameters(ethernet interface name, slave numbers and esi file name). This repo provides two esi files: elfin_motor.esi and elfin_motor_v2.esi .
-
-Then fix ESI with following commands.
+## Reason 1
+You may have used the wrong launch file(elfin_ros_control.launch/elfin_ros_control_v2.launch) (for details: [README.md](../README.md)). If you don't know which version of Elfin you have. You can just try both of the launch files.
+```sh
+$ sudo chrt 10 bash
+$ roslaunch elfin_robot_bringup elfin_ros_control.launch
+```
+or
 ```sh
 $ sudo chrt 10 bash
-$ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+$ roslaunch elfin_robot_bringup elfin_ros_control_v2.launch
+```
+
+## Reason 2
+If it's not the reason 1, then the ESI on the robot may be wrong.
+
+### How to fix ESI
+Connect Elfin to the computer with a LAN cable. Then confirm the ethernet interface name of the connection with `ifconfig`. The default ethernet name is eth0. If the ethernet name is not eth0, in the next steps you should correct the following line in the file *elfin_ethercat_driver/config/write_esi.yaml*.
+```
+elfin_ethernet_name: eth0
+```
+There are 4 EtherCAT slaves on the robot. If there is no other EtherCAT device connected to the same NIC, the numbers of the 4 Elfin EtherCAT slaves are as shown below.
+![elfin_robot](images/elfin_ethercat_slaves.png)
+
+If there are other EtherCAT devices, then in the next steps you should correct the following lines in the file *elfin_ethercat_driver/config/write_esi.yaml* accordingly.
+```
+slave_no: [1, 2, 3]
+```
+and
 ```
+slave_no: [4]
+```
+
+#### Elfin with the version 1 of EtherCAT slaves
+* Fix module ESI  
+    Please set the parameters in the file *elfin_ethercat_driver/config/write_esi.yaml* as follows.
+    ```
+    eth_name: eth0
+    slave_no: [1, 2, 3]
+    esi_file: elfin_module.esi
+    ```
+
+    Then fix ESI with following commands.
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+* Fix IO port ESI  
+    Please set the parameters in the file *elfin_ethercat_driver/config/write_esi.yaml* as follows.
+    ```
+    eth_name: eth0
+    slave_no: [4]
+    esi_file: elfin_io_port.esi
+    ```
+
+    Then fix ESI with following commands.
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+
+    Finally, restart the robot. Now ESI should be fixed.
+
+    Besides, some backup files of the original ESI of the slaves that are fixed are generated in elfin_ethercat_driver/script/ folder.
+
+#### Elfin with the version 2 of EtherCAT slaves
+* Fix module ESI  
+    Please set the parameters in the file *elfin_ethercat_driver/config/write_esi.yaml* as follows.
+    ```
+    eth_name: eth0
+    slave_no: [1, 2, 3]
+    esi_file: elfin_module_v2.esi
+    ```
+
+    Then fix ESI with following commands.
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
+* Fix IO port ESI  
+    Please set the parameters in the file *elfin_ethercat_driver/config/write_esi.yaml* as follows.
+    ```
+    eth_name: eth0
+    slave_no: [4]
+    esi_file: elfin_io_port_v2.esi
+    ```
+
+    Then fix ESI with following commands.
+    ```sh
+    $ sudo chrt 10 bash
+    $ roslaunch elfin_ethercat_driver elfin_esi_write.launch
+    ```
 
-Finally, restart the robot. Now ESI should be fixed.
+    Finally, restart the robot. Now ESI should be fixed.
 
-Besides, some backup files of the original ESI of the slaves that are fixed are generated in elfin_ethercat_driver/script/ folder.
+    Besides, some backup files of the original ESI of the slaves that are fixed are generated in elfin_ethercat_driver/script/ folder.
diff --git a/docs/images/elfin_ethercat_slaves.png b/docs/images/elfin_ethercat_slaves.png
diff --git a/elfin_ethercat_driver/config/write_esi.yaml b/elfin_ethercat_driver/config/write_esi.yaml
@@ -1,3 +1,3 @@
 eth_name: eth0
 slave_no: [1, 2, 3]
-esi_file: elfin_motor.esi
+esi_file: elfin_module.esi
diff --git a/elfin_ethercat_driver/script/elfin_io_port.esi b/elfin_ethercat_driver/script/elfin_io_port.esi
diff --git a/elfin_ethercat_driver/script/elfin_io_port_v2.esi b/elfin_ethercat_driver/script/elfin_io_port_v2.esi
diff --git a/elfin_ethercat_driver/script/elfin_motor.esi → ...n_ethercat_driver/script/elfin_module.esi b/elfin_ethercat_driver/script/elfin_motor.esi → ...n_ethercat_driver/script/elfin_module.esi
diff --git a/...ethercat_driver/script/elfin_motor_v2.esi → ...thercat_driver/script/elfin_module_v2.esi b/...ethercat_driver/script/elfin_motor_v2.esi → ...thercat_driver/script/elfin_module_v2.esi