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Only released in EOL distros:  

Contents

  1. Introduction

Introduction

When pr2_etherCAT drivers detect certain types of motor problem, they will publish an ethercat_hardware/MotorTrace message. The message contains a trace of motor voltage, current, position, and speed from the second before the motor halted.

With tools from this stack its possible to look at these motor traces to get a better understanding of what was happening with the motor leading up to the error condition.

See the Tutorials for usage examples.


2019-11-16 13:03