Update documentation string for RxPDO and TxPDO, clarifying direction of data transmission.

yguel · yguel · commit 133138ac5464 · 2024-12-17T16:03:08.000+01:00
diff --git a/ethercat_slave_description/config/advantech/advantech_amax5051.yaml b/ethercat_slave_description/config/advantech/advantech_amax5051.yaml
@@ -2,7 +2,7 @@
 # Description : 8-ch Digital Input EtherCAT Slice IO Module
 vendor_id: 0x000013FE
 product_id: 0x00035051
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x3001, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
diff --git a/ethercat_slave_description/config/advantech/advantech_amax5056.yaml b/ethercat_slave_description/config/advantech/advantech_amax5056.yaml
@@ -2,7 +2,7 @@
 # Description : 8-ch Sink-type Digital Output EtherCAT Slice IO Module
 vendor_id: 0x000013FE
 product_id: 0x00035056
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x3101, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el1008.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el1008.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 8-channel digital input, 24 V DC, 3 ms.
 vendor_id: 0x00000002
 product_id: 0x03f03052
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6000, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el1018.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el1018.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 8-channel digital input, 24 V DC, 10 us.
 vendor_id: 0x00000002
 product_id: 0x03fa3052
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6000, sub_index: 0x01, type: bool, mask: 1, state_interface: d_input.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el2008.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el2008.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A.
 vendor_id: 0x00000002
 product_id: 0x07d83052
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x7000, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el2088.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el2088.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A, ground switching.
 vendor_id: 0x00000002
 product_id: 0x08283052
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x7000, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el2124.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el2124.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 4-channel digital output, 5 V DC, 20 mA.
 vendor_id: 0x00000002
 product_id: 0x084c3052
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x7000, sub_index: 0x01, type: bool, mask: 1, command_interface: d_output.1}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el3102.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el3102.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 2-channel analog input, voltage, ±10 V, 16 bit, differential.
 vendor_id: 0x00000002
 product_id: 0x0c1e3052
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x3101, sub_index: 0x01, type: uint8}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el3104.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el3104.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 4-channel analog input, voltage, ±10 V, 16 bit, differential.
 vendor_id: 0x00000002
 product_id: 0x0c203052
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6000, sub_index: 0x01, type: bool}  # Underrange
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el4132.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el4132.yaml
@@ -2,7 +2,7 @@
 # Description : EtherCAT Terminal, 2-channel analog output, voltage, ±10 V, 16 bit.
 vendor_id: 0x00000002
 product_id: 0x10243052
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x3001, sub_index: 0x01, type: int16, command_interface: analog_output.1, factor: 3276.7}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el4134.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el4134.yaml
@@ -3,7 +3,7 @@
 
 vendor_id: 0x00000002
 product_id: 0x10263052
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x7000, sub_index: 0x01, type: int16, command_interface: analog_output.1, factor: 3276.7}
diff --git a/ethercat_slave_description/config/beckhoff/beckhoff_el5101.yaml b/ethercat_slave_description/config/beckhoff/beckhoff_el5101.yaml
@@ -3,7 +3,7 @@
 # Predefined PDO assignment for Standard 32-bit mode
 vendor_id: 0x00000002
 product_id: 0x13ed3052
-rpdo:  # RxPDO = receive PDO Mapping
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1603
     channels:
       - {index: 0x7010, sub_index: 0x01, type: bool}  # Enable latch C
@@ -13,7 +13,7 @@ rpdo:  # RxPDO = receive PDO Mapping
       - {index: 0x0000, sub_index: 0x00, type: bit4}  # Gap
       - {index: 0x0000, sub_index: 0x00, type: bit8}  # Gap
       - {index: 0x7010, sub_index: 0x11, type: int32, default: 0}  # Set counter value
-tpdo:  # TxPDO = transmit PDO Mapping
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a04
     channels:
       - {index: 0x6010, sub_index: 0x01, type: bool}  # Latch C valid
diff --git a/ethercat_slave_description/config/elmo/elmo_gold.yaml b/ethercat_slave_description/config/elmo/elmo_gold.yaml
@@ -8,7 +8,7 @@ sdo:  # sdo data to be transferred at drive startup
   - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
   - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
   - {index: 0x6098, sub_index: 0, type: int8, value: 35}
-rpdo:  # RxPDO
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to motor drive, Master Out to Slave In -MOSI-)
   - index: 0x1607
     channels:
       - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan}  # Target position
@@ -17,7 +17,7 @@ rpdo:  # RxPDO
       - {index: 0x6072, sub_index: 0, type: int16, default: 1000}  # Max torque
       - {index: 0x6040, sub_index: 0, type: uint16, default: 0}  # Control word
       - {index: 0x6060, sub_index: 0, type: int8, default: 8}  # Mode of operation
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (motor drive to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a07
     channels:
       - {index: 0x6064, sub_index: 0, type: int32, state_interface: position}  # Position actual value
diff --git a/ethercat_slave_description/config/maxon/maxon_epos3.yaml b/ethercat_slave_description/config/maxon/maxon_epos3.yaml
@@ -6,7 +6,7 @@ auto_fault_reset: false  # true = automatic fault reset, false = fault reset on
 sdo:  # sdo data to be transferred at drive startup
   - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
   - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
-rpdo:  # RxPDO = receive PDO Mapping
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to motor drive, Master Out to Slave In -MOSI-)
   - index: 0x1603
     channels:
       - {index: 0x6040, sub_index: 0, type: uint16, default: 0}  # Control word
@@ -19,7 +19,7 @@ rpdo:  # RxPDO = receive PDO Mapping
       - {index: 0x6060, sub_index: 0, type: int8, default: 8}  # Mode of operation
       - {index: 0x2078, sub_index: 1, type: uint16, default: 0}  # Digital Output Functionalities
       - {index: 0x60b8, sub_index: 0, type: uint16, default: 0}  # Touch Probe Function
-tpdo:  # TxPDO = transmit PDO Mapping
+tpdo:  # TxPDO = transmit PDO Mapping (motor drive to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a03
     channels:
       - {index: 0x6041, sub_index: 0, type: uint16}  # Status word
diff --git a/ethercat_slave_description/config/omron/omron_nx_ecc201_nx_id5442.yaml b/ethercat_slave_description/config/omron/omron_nx_ecc201_nx_id5442.yaml
@@ -2,11 +2,11 @@
 # Description : Omron EtherCAT Coupler NX_ECC201 with NX_ID5442 16-ch Digital Input module
 vendor_id: 0x00000083
 product_id: 0x00000083
-rpdo: #RxPDO
+rpdo: #RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1604
     channels:
       - {index: 0x7022, sub_index: 0x01, type: uint16}
-tpdo:  # TxPDO
+tpdo:  # TxPDO = transmit PDO Mapping (slave to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1bf8
     channels:
       - {index: 0x3003, sub_index: 0x04, type: bit128}
diff --git a/ethercat_slave_description/config/omron/omron_nx_ecc201_nx_od5256.yaml b/ethercat_slave_description/config/omron/omron_nx_ecc201_nx_od5256.yaml
@@ -2,7 +2,7 @@
 # Description : Omron EtherCAT Coupler NX_ECC201 with NX_OD5256 16-ch Digital Output module
 vendor_id: 0x00000083
 product_id: 0x00000083
-rpdo: #RxPDO
+rpdo: #RxPDO = receive PDO Mapping (ROS control to slave, Master Out to Slave In -MOSI-)
   - index: 0x1604
     channels:
       - {index: 0x7022, sub_index: 0x01, type: uint16, command_interface: d_output}
diff --git a/ethercat_slave_description/config/schneider/schneider_atv320.yaml b/ethercat_slave_description/config/schneider/schneider_atv320.yaml
@@ -4,12 +4,12 @@ vendor_id: 0x0800005a
 product_id: 0x00000389
 assign_activate: 0x0300  # DC Synch register
 auto_fault_reset: false  # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
-rpdo:  # RxPDO = receive PDO Mapping
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to motor drive, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x6040, sub_index: 0x00, type: uint16, default: 0}  # Control word
       - {index: 0x6042, sub_index: 0x00, type: int16, command_interface: velocity, default: 0}  # Target velocity
-tpdo:  # TxPDO = transmit PDO Mapping
+tpdo:  # TxPDO = transmit PDO Mapping (motor drive to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6041, sub_index: 0x00, type: uint16}  # Status word
diff --git a/ethercat_slave_description/config/synapticon/synapticon_somanet_circulo9.yaml b/ethercat_slave_description/config/synapticon/synapticon_somanet_circulo9.yaml
@@ -3,7 +3,7 @@ vendor_id: 0x000022d2
 product_id: 0x00000302
 assign_activate: 0x0300  # DC Synch register
 auto_fault_reset: false  # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
-rpdo:  # RxPDO = receive PDO Mapping
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to motor drive, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x6040, sub_index: 0, type: uint16, default: 0}  # Control word
@@ -22,7 +22,7 @@ rpdo:  # RxPDO = receive PDO Mapping
       - {index: 0x60b1, sub_index: 0, type: int32, default: 0}  # Offset velocity
       - {index: 0x2703, sub_index: 0, type: uint32, default: 0}  # User MOSI
 
-tpdo:  # TxPDO = transmit PDO Mapping
+tpdo:  # TxPDO = transmit PDO Mapping (motor drive to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6041, sub_index: 0, type: uint16}  # Status word
diff --git a/ethercat_slave_description/config/technosoft/technosoft_ipos3604.yaml b/ethercat_slave_description/config/technosoft/technosoft_ipos3604.yaml
@@ -6,7 +6,7 @@ auto_fault_reset: false  # true = automatic fault reset, false = fault reset on
 sdo:  # sdo data to be transferred at drive startup
   - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
   - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
-rpdo:  # RxPDO = receive PDO Mapping
+rpdo:  # RxPDO = receive PDO Mapping (ROS control to motor drive, Master Out to Slave In -MOSI-)
   - index: 0x1600
     channels:
       - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word, default: 0}  # Control word
@@ -19,7 +19,7 @@ rpdo:  # RxPDO = receive PDO Mapping
     channels:
       - {index: 0x2090, sub_index: 2, type: uint8, default: 3}  # Digital outputs mask
       - {index: 0x2090, sub_index: 1, type: uint8, command_interface: digital_out, default: 0}  # Digital outputs value
-tpdo:  # TxPDO = transmit PDO Mapping
+tpdo:  # TxPDO = transmit PDO Mapping (motor drive to ROS control, Master In From Slave Out -MISO-)
   - index: 0x1a00
     channels:
       - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}  # Status word
