Skip to content

ethernet CAN

Jump to bottom
Dorian Goepp edited this page Jan 6, 2017 · 2 revisions

General configuration

The robot body is controlled by Ethernet cards (11 boards for 11 IP addresses). Accessing the cards can be done with the EthLoader.

The head of the robot and the skin of the torso are the only two items on a CAN bus. Accessing the cards can be done with the CANLoader.

Both EthLoader and CANLoader are installed with icub-main, they are in the "tools" folder of the source code (https://github.com/robotology/icub-main/tree/master/src/tools).

Firmware information (official docs): http://wiki.icub.org/wiki/Firmware#ETH_robots

CAN

** Net 0 -> HEAD

  • 1 BLL board: neck j0, j1
  • 1 MC4 boards (4DC): neck j2, j3, j4, j5
  • To access, use canLoader -> Net 0 -> cfw2can

** Net 9 -> SKIN TORSO

  • skin.hex
  • To access, use canLoader -> Net 9 -> cfw2can

Ethernet

IP of the BOARDS of the BODY

  1. IP=10.0.1.1 ---- left arm + FT sensor
  2. IP=10.0.1.2 ---- left forearm + skin
  3. IP=10.0.1.3 ---- right arm + FT sensor
  4. IP=10.0.1.4 ---- right forearm + skin
  5. IP=10.0.1.5 ---- torso
  6. IP=10.0.1.6 ---- left leg + FT sensor leg
  7. IP=10.0.1.7 ---- left ankle + FT sensor foot
  8. IP=10.0.1.8 ---- right leg + FT sensor leg
  9. IP=10.0.1.9 ---- right leg + FT sensor foot
  10. IP=10.0.1.10 ---- skin left leg
  11. IP=10.0.1.11 ---- skin right leg

IP of the BOARDS with CAN details

IP=10.0.1.1 ---- left arm + FT sensor

  • CAN 1: 2x FOC => FOC (1BO) 2foc.hex (left arm: j0, j1) + FOC (1B1) 2foc.hex (left arm: j2, j3)
  • CAN 2: strain.hex

IP=10.0.1.2 ---- left forearm + skin

  • CAN 1: 3x MC4 (left arm j4-j7)
  • CAN 2: skin.hex (left arm skin)

IP=10.0.1.3 ---- right arm + FT sensor

  • CAN 1: 4x FOC 2foc.hex (right arm)
  • CAN 2: FTS

IP=10.0.1.4 ---- right forearm + skin

  • CAN 1: 3x MC4 (right forearm)
  • CAN 2: skin

IP=10.0.1.5 ---- torso

  • CAN 1: 4x FOC 2foc.hex (torso j0-j2)
  • CAN 2: NOTHING

IP=10.0.1.6 ---- left leg + FT sensor leg

  • CAN 1: 4x FOC 2foc.hex (left leg j0-j3)
  • CAN 2: FTS

IP=10.0.1.7 ---- left ankle + FT sensor foot

  • CAN 1: 2x FOC 2foc.hex (left leg j4-j5)
  • CAN 2: FTS

IP=10.0.1.8 ---- right leg + FT sensor leg

  • CAN 1: 4x FOC (right leg j0-j3)
  • CAN 2: 1x strain.hex

IP=10.0.1.9 ---- right leg + FT sensor foot

  • CAN 1: 2x FOC (right leg j4-j5)
  • CAN 2: 1x strain.hex

IP=10.0.1.10 ---- skin left leg

  • CAN 1: skin
  • CAN 2: skin

IP=10.0.1.11 ---- skin right leg

  • CAN 1: skin
  • CAN 2: skin

This manual is maintained to facilitate the life of our lab members in getting started with our robots. It is not an " official" guide and it is maintained at our best. If something does not work, please tell us or write an issue. Contributors: Serena Ivaldi

Clone this wiki locally