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I tried ros2 run ethercat_device_configurator standalone /home/ros/test_ws/src/wlrzj_description/config/elmo_config/setup.yaml
and got

[INFO] [1683983825.952728621] []: Configuration Sanity Check of Elmo 'lw':
✓ drive_state_change_min_timeout ≤ drive_state_change_max_timeout
✓ motor_constant > 0
✓ motor_rated_current > 0
✓ max_current > 0
✓ position_encoder_resolution > 0
✓ gear_ratio > 0
✓ direction ∈ {1, -1}
✓ encoder_position ∈ {"motor", "joint"}
✓ mode_of_operation ∈ {"CyclicSynchronousVelocityMode", "CyclicSynchronounsTorqueMode"}

[INFO] [1683983825.953523327] []: Configuration Sanity Check of Elmo 'rw':
✓ drive_state_change_min_timeout ≤ drive_state_change_max_timeout
✓ motor_constant > 0
✓ motor_rated_current > 0
✓ max_current > 0
✓ position_encoder_resolution > 0
✓ gear_ratio > 0
✓ direction ∈ {1, -1}
✓ encoder_position ∈ {"motor", "joint"}
✓ mode_of_operation ∈ {"CyclicSynchronousVelocityMode", "CyclicSynchronounsTorqueMode"}

[ INFO] The following 4 slaves have been found and configured:
[ INFO] Address: 1 - Name: '? M:0000009a I:00030924'
[ INFO] Address: 2 - Name: '? M:0000009a I:00030924'
[ INFO] Address: 3 - Name: '? M:0000009a I:00030924'
[ INFO] Address: 4 - Name: '? M:0000009a I:00030924'
[ INFO] [SOEM_Interface] Slave: 0: State 2 has been reached after 0 tries
[ INFO] [SOEM_Interface] Slave: 3: State 2 has been reached after 0 tries
[ INFO] Bus 'enp5s0', slave 3: Activating distributed clock synchronization...
[ INFO] Bus 'enp5s0', slave 3: Activated distributed clock synchronization.
[ INFO] [SOEM_Interface] Slave: 4: State 2 has been reached after 0 tries
[ INFO] Bus 'enp5s0', slave 4: Activating distributed clock synchronization...
[ INFO] Bus 'enp5s0', slave 4: Activated distributed clock synchronization.
[ERROR] [enp5s0] RxPDO size mismatch: The slave 'lw' expects a size of 0 bytes but the slave found at its address 3 requests 18 bytes).
[ERROR] [enp5s0] TxPDO size mismatch: The slave 'lw' expects a size of 0 bytes but the slave found at its address 3 requests 22 bytes).
[ERROR] [enp5s0] RxPDO size mismatch: The slave 'rw' expects a size of 0 bytes but the slave found at its address 4 requests 18 bytes).
[ERROR] [enp5s0] TxPDO size mismatch: The slave 'rw' expects a size of 0 bytes but the slave found at its address 4 requests 22 bytes).
Startup not successful.

And this is my setup.yaml

ethercat_master:
time_step: 0.001
update_rate_too_low_warn_threshold: 50

ethercat_devices:

• type: Elmo
  name: lw
  configuration_file: elmo.yaml
  ethercat_bus: enp5s0
  ethercat_address: 3

• type: Elmo
  name: rw
  configuration_file: elmo.yaml
  ethercat_bus: enp5s0
  ethercat_address: 4

This is elmo.yaml:

Elmo:
config_run_sdo_verify_timeout: 21001
print_debug_messages: true
use_raw_commands: false
drive_state_change_min_timeout: 1000
drive_state_change_max_timeout: 1000000
min_number_of_successful_target_state_readings: 50

Reading:
force_append_equal_error: true
force_append_equal_fault: false
error_storage_capacity: 312
fault_storage_capacity: 412

Hardware:
rx_pdo_type: "RxPdoStandard"
tx_pdo_type: "TxPdoStandard"
mode_of_operation: "CyclicSynchronousVelocityMode"
use_multiple_modes_of_operation: true
position_encoder_resolution: 8192 # Encoder 'ticks' per encoder revolution
gear_ratio: [10,1] # [input revolutions, output revolutions]
motor_constant: 0.25
max_current: 25.0
motor_rated_current: 20.0
direction: 1
encoder_position: motor

Where did i do srong? and how can i fix it, thanks

That would be very useful!

Hi,
I found elmo_examples in some old commits, is there new elmo_examples here? It would be helpful to have some examples.
Thanks.