example.yaml

motor_names:
  - master_motor
  - sub_motor

# motor name
master_motor:
  # epos's node information (must be enough to identify the node)
  device: 'EPOS4' # default: 'EPOS4'
  protocol_stack: 'MAXON SERIAL V2' # default: 'MAXON SERIAL V2'
  interface: 'USB' # default: 'USB'
  port: 'USB0' # default: 'USB0'
  node_id: 1 # default: 0 (invalid)

  # communication settings (optional)
  # 'device' is a set of types of device, protocol_stack, interface, and port.
  # order of node initialization is that of commandline arguments.
  baudrate: 1000000 # default: 0 (keep current baudrate)
  timeout: 500 # [ms], default: 0 (keep current timeout)

  # general parameters (optional)
  use_ros_unit: true # use ros standard units (rad, rad/s, Nm) in hardware interfaces
                     # or epos standard units (quad count of encoder pulse(qc), rpm, mNm)
                     # (default: false)

  # epos's operation mode (required)
  control_mode: "profile_position"

  # encoder parameters (required)
  encoder:
    type: 1 # 1: INC 3CH, 2: INC 2CH, 4: SSI ABS BIN, 5: SSI ABS GRY
    resolution: 1024 # encoder resolution
    gear_ratio: 243 # gear ratio of motor
    inverted_polarity: false

  # profile position mode configs (optional)
  position_profile:
    velocity: 10000 # [rpm]
    acceleration: 8000 # [rpm/s]
    deceleration: 9000 # [rpm/s]

# motor name
sub_motor:
  # epos's node information (must be enough to identify the node)
  device: 'EPOS4' # default: 'EPOS4'
  protocol_stack: 'CANopen' # default: 'MAXON SERIAL V2'
  interface: '' # default: 'USB'
  port: '' # default: 'USB0'
  node_id: 2 # default: 0 (invalid)

  # communication settings (optional)
  # ignored if another node belonging to the same device is already initialized.
  # 'device' is a set of types of device, protocol_stack, interface, and port.
  # order of node initialization is that of commandline arguments.
  baudrate: 1000000 # default: 0 (keep current baudrate)
  timeout: 500 # [ms], default: 0 (keep current timeout)

  # general parameters (optional)
  use_ros_unit: true # use ros standard units (rad, rad/s, Nm) in hardware interfaces
                     # or epos standard units (quad count of encoder pulse(qc), rpm, mNm)
                     # (default: false)

  # epos's operation mode (required)
  control_mode: "profile_position"

  # sensor parameters (required)
  encoder:
    type: 1 # 1: INC 3CH, 2: INC 2CH, 4: SSI ABS BIN, 5: SSI ABS GRY
    resolution: 1024 # encoder resolution
    gear_ratio: 243 # gear ratio of motor
    inverted_polarity: false

  # profile position mode configs (optional)
  position_profile:
    velocity: 10000 # [rpm]
    acceleration: 8000 # [rpm/s]
    deceleration: 9000 # [rpm/s]