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ethercat_hardware should detect when boards are giving bad status data (ros ticket #3701) #6

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ahendrix opened this issue Mar 12, 2013 · 1 comment

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ahendrix commented Mar 12, 2013

If boards give bad status data, ethercat_hardware could ignore it.

This situtation occurred on MCB in PRJ ( https://prdev.willowgarage.com/trac/pr2hardware/ticket/565 ). The root cause has not been identified, but extra checks could have easily caught erroneous conditions.

Put check for changing timestamp after check for enabled motor (in verify function)
Look at checksum on status data
add check for correct working counter on process data
Added idiot checks on certain ET100 register value. (operational mode, FMMU / SyncManager settings?)

trac data:

Owner: dking
Reporter: watts
Reported at: Thu Jan 21 15:31:09 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3701

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ahendrix commented Mar 12, 2013

[dking] r30633 and r29974
Checksum are verified, changing timestamps are checked even if board in not enabled.

Checking working counter values on process data will require change to EML library.

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