Associated Firmware
This page reports the association board/address/firmware
version either for CAN
and ETH
based robots
CAN based robots
CAN Networks
The iCub 1.0.0 four can bus network are used (ids range from 0 to 3)
- 0 head network, device pcan
- 1 left arm network, device pcan
- 2 right arm network, device pcan
- 3 legs network, device pcan
On iCub 1.1.0 two ecan devices are added to the existing pcans.
- 0 head network, device pcan
- 1 left arm network, device pcan
- 2 right arm network, device pcan
-
3 legs network, device pcan
-
left hand: device ecan, variable id
- right hand: device ecan, variable id
On iCub 1.2.0 the cfw2can board is used (ids range from 0 to 8).
- 0 head network, device cfw2can
- 1 left arm network, device cfw2can
- 2 right arm network, device cfw2can
- 3 left leg network, device cfw2can
- 4 right leg network, device cfw2can
- 5 left hand, device cfw2can
- 6 right hand, device cfw2can
- 7 left hand skin network, device cfw2can
- 8 right hand skin network, device cfw2can
On iCub 1.3.0 the cfw2can board is used (ids range from 0 to 8).
- 0 head network, device cfw2can
- 1 left arm network, device cfw2can
- 2 right arm network, device cfw2can
- 3 left leg network, device cfw2can
- 4 right leg network, device cfw2can
- 5 left hand, device cfw2can
- 6 right hand, device cfw2can
- 7 left hand and forearm skin network, device cfw2can
- 8 right hand and forearm skin network, device cfw2can
On iCub 1.3.1 the Head V2.0 is installed on a 1.3.0 robot.
On iCub 2 the cfw2can board is used (ids range from 0 to 9).
- 0 head network, device cfw2can
- 1 left arm network, device cfw2can
- 2 right arm network, device cfw2can
- 3 left leg network, device cfw2can
- 4 right leg network, device cfw2can
- 5 left hand, device cfw2can
- 6 right hand, device cfw2can
- 7 left hand, forearm and upperarm skin network, device cfw2can
- 8 right hand forearm and upperarm skin network, device cfw2can
- 9 torso skin network, device cfw2can
iCub V1.0
We here describe the CAN-bus networks structure of the iCub v1.0. The version 1.0 uses the CFW board which has 4 canbus lines.
This version of iCub is no more supported. Firmware versions marked in red have been removed from the main repository.
can-bus network | configuration file | associated robot part |
---|---|---|
pcan-0 | icub_head_torso.ini | head (entries 0 to 5) and torso (entries 6 to 8) |
pcan-1 | icub_left_arm.ini | left_arm |
pcan-2 | icub_right_arm.ini | right_arm |
pcan-3 | icub_legs_leg.ini | left_leg (entries 0 to 5) and right_leg (entries 6 to 11) |
Details on the control boards connected to each network are given below.
PCAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (pcan) | 1 (2) | 4DC.1.11.out.S |
0B1 | -> | 0 (pcan) | 3 (4) | 4DC.1.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
0B4 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
PCAN1: Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B0 | -> | 1 (pcan) | 1 | 2BLL.1.50.out.S |
1B1 | -> | 1 (pcan) | 2 | 2BLL.1.53.out.S |
1B2 | -> | 1 (pcan) | 3 (4) | 4DC.1.19.out.S |
1B3 | -> | 1 (pcan) | 5 (6) | 4DC.1.18.out.S |
1B4 | -> | 1 (pcan) | 7 (8) | 4DC.1.20.out.S |
PCAN2: Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B0 | -> | 2 (pcan) | 1 | 2BLL.1.50.out.S |
2B1 | -> | 2 (pcan) | 2 | 2BLL.1.53.out.S |
2B2 | -> | 2 (pcan) | 3 (4) | 4DC.1.19.out.S |
2B3 | -> | 2 (pcan) | 5 (6) | 4DC.1.18.out.S |
2B4 | -> | 2 (pcan) | 7 (8) | 4DC.1.20.out.S |
PCAN3: Legs
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B5 | -> | 3 (pcan) | 5 | 2BLL.1.51.out.S |
3B6 | -> | 3 (pcan) | 6 | 2BLL.1.51.out.S |
3B7 | -> | 3 (pcan) | 7 | 2BLL.1.51.out.S |
3B8 | -> | 3 (pcan) | 8 | 2BLL.1.51.out.S |
3B9 | -> | 3 (pcan) | 9 | 2BLL.1.51.out.S |
3B10 | -> | 3 (pcan) | 10 | 2BLL.1.51.out.S |
iCub V1.1.0
We here describe the CAN-bus networks structure of the iCub v1.1. The version 1.1 uses the CFW board which has 4 canbus lines and 2 esd-can device. Overall we have 6 canbus lines: 4 pcan and 2 ecan. Additionaly, the robot is equipped with MAIS and STRAIN analog sensors.
can-bus network | configuration file | associated robot part |
---|---|---|
pcan-0 | icub_head_torso.ini | head (entries 0 to 5) and torso (entries 6 to 8) |
pcan-1 | icub_left_arm.ini | left_arm (joints 0 to 7) |
pcan-2 | icub_right_arm.ini | right_arm (joints 0 to 7) |
pcan-3 | icub_legs.ini | left_leg (entries 0 to 5) and right_leg (entries 6 to 11) |
ecan-0 or ecan-1 | icub_left_hand.ini | left_arm (joints 8 to 15) |
ecan-0 or ecan-1 | icub_right_hand.ini | right_arm (joints 8 to 15) |
Details on the control boards connected to each network are given below.
PCAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (pcan) | 1 (2) | 4DC.1.11.out.S |
0B1 | -> | 0 (pcan) | 3 (4) | 4DC.1.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
0B4 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
PCAN1: Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B0 | -> | 1 (pcan) | 1 | 2BLL.1.50.out.S |
1B1 | -> | 1 (pcan) | 2 | 2BLL.1.57.out.S |
1B2 | -> | 1 (pcan) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor | -> | 1 (pcan) | 12 | - - - |
Strain | -> | 1 (pcan) | 13 | strain.hex |
ECAN1: Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B3 | -> | 1 (ecan) | 5 (6) | 4DC.1.28.out.S |
1B4 | -> | 1 (ecan) | 7 (8) | 4DC.1.30.out.S |
virtual FT joint sensor | -> | 1 (ecan) | 12 | - - - |
MAIS | -> | 1 (ecan) | 14 | mais.hex |
PCAN2: Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B0 | -> | 2 (pcan) | 1 | 2BLL.1.50.out.S |
2B1 | -> | 2 (pcan) | 2 | 2BLL.1.57.out.S |
2B2 | -> | 2 (pcan) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor | -> | 2 (pcan) | 12 | - - - |
Strain | -> | 2 (pcan) | 13 | strain.hex |
ECAN0: Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B3 | -> | 2 (ecan) | 5 (6) | 4DC.1.28.out.S |
2B4 | -> | 2 (ecan) | 7 (8) | 4DC.1.30.out.S |
virtual FT joint sensor | -> | 2 (ecan) | 12 | - - - |
MAIS | -> | 2 (ecan) | 14 | mais.hex |
PCAN3: Legs
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B5 | -> | 3 (pcan) | 5 | 2BLL.1.51.out.S |
3B6 | -> | 3 (pcan) | 6 | 2BLL.1.51.out.S |
3B7 | -> | 3 (pcan) | 7 | 2BLL.1.51.out.S |
3B8 | -> | 3 (pcan) | 8 | 2BLL.1.51.out.S |
3B9 | -> | 3 (pcan) | 9 | 2BLL.1.51.out.S |
3B10 | -> | 3 (pcan) | 10 | 2BLL.1.51.out.S |
virtual FT joint sensor (left_leg) | -> | 3 (pcan) | 12 | - - - |
Strain (left_leg) | -> | 3 (pcan) | 13 | strain.hex |
virtual FT joint sensor (right_leg) | -> | 3 (pcan) | 11 | - - - |
Strain (right_leg) | -> | 3 (pcan) | 14 | strain.hex |
iCub v1.2.0
We here describe the CAN-bus networks structure of the iCub v1.2.0. The version 1.2.0 uses the CFW2 board which has 10 can-Bus lines available.
can-bus network | configuration file | associated robot part |
---|---|---|
0 | icub_head_torso.ini | head and torso |
1 | icub_left_arm.ini | left_arm (joints 0 to 7) |
2 | icub_right_arm.ini | right_arm (joints 0 to 7) |
3 | icub_left_leg.ini | left_leg |
4 | icub_right_leg.ini | right_leg |
5 | icub_left_hand.ini | left_arm (joints 8 to 15) |
6 | icub_right_hand.ini | right_arm (joints 8 to 15) |
7 | skinlefthand.ini | left_hand skin |
8 | skinrighthand.ini | right_hand skin |
Details on the control boards connected to each network are given in the following.
CFW2CAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (pcan) | 1 (2) | 4DC.1.11.out.S |
0B1 | -> | 0 (pcan) | 3 (4) | 4DC.1.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
0B4 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
CFW2CAN1: Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B0 | -> | 1 (cfw2can) | 1 | 2BLL.1.50.out.S |
1B1 | -> | 1 (cfw2can) | 2 | 2BLL.1.57.out.S |
1B2 | -> | 1 (cfw2) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor (shoulder) | -> | 1 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 1 (cfw2can) | 11 | - - - |
Strain | -> | 1 (cfw2can) | 13 | strain.hex |
CFW2CAN5: Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B3 | -> | 5 (cfw2can) | 5 (6) | 4DC.1.28.out.S |
1B4 | -> | 5 (cfw2can) | 7 (8) | 4DC.1.30.out.S |
MAIS | -> | 5 (cfw2can) | 14 | mais.hex |
CFW2CAN2: Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B0 | -> | 2 (cfw2can) | 1 | 2BLL.1.50.out.S |
2B1 | -> | 2 (cfw2can) | 2 | 2BLL.1.57.out.S |
2B2 | -> | 2 (cfw2can) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor (shoulder) | -> | 2 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 2 (cfw2can) | 11 | - - - |
Strain | -> | 2 (cfw2can) | 13 | strain.hex |
CFW2CAN6: Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B3 | -> | 6 (cfw2can) | 5 (6) | 4DC.1.28.out.S |
2B4 | -> | 6 (cfw2can) | 7 (8) | 4DC.1.30.out.S |
MAIS | -> | 6 (cfw2can) | 14 | mais.hex |
CFW2CAN3: left leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B5 | -> | 3 (cfw2can) | 5 | 2BLL.1.51.out.S |
3B6 | -> | 3 (cfw2can) | 6 | 2BLL.1.51.out.S |
3B7 | -> | 3 (cfw2can) | 7 | 2BLL.1.51.out.S |
virtual FT joint sensor | -> | 3 (cfw2can) | 12 | - - - |
Strain | -> | 3 (cfw2can) | 13 | strain.hex |
CFW2CAN4: right leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B8 | -> | 4 (cfw2can) | 8 | 2BLL.1.51.out.S |
3B9 | -> | 4 (cfw2can) | 9 | 2BLL.1.51.out.S |
3B10 | -> | 4 (cfw2can) | 10 | 2BLL.1.51.out.S |
virtual FT joint sensor | -> | 4 (cfw2can) | 11 | - - - |
Strain | -> | 4 (cfw2can) | 14 | strain.hex |
CFW2CAN7: Skin Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B7 | -> | 7 (cfw2can) | 15 | skin.hex |
CFW2CAN8: Skin Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B7 | -> | 8 (cfw2can) | 15 | skin.hex |
iCub v1.3.0
We here describe the CAN-bus networks structure of the iCub v1.3.0. The version 1.3.0 uses the CFW2 board which has 10 can-Bus lines available.
can-bus network | configuration file | associated robot part |
---|---|---|
0 | icub_head_torso.ini | head and torso |
1 | icub_left_arm.ini | left_arm (joints 0 to 7) |
2 | icub_right_arm.ini | right_arm (joints 0 to 7) |
3 | icub_left_leg.ini | left_leg |
4 | icub_right_leg.ini | right_leg |
5 | icub_left_hand.ini | left_arm (joints 8 to 15) |
6 | icub_right_hand.ini | right_arm (joints 8 to 15) |
7 | skinlefthand.ini | left_hand skin |
8 | skinrighthand.ini | right_hand skin |
Details on the control boards connected to each network are given in the following.
CFW2CAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (pcan) | 1 (2) | 4DC.1.11.out.S |
0B1 | -> | 0 (pcan) | 3 (4) | 4DC.1.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (pcan) | 6 | 2BLL.1.52.out.S |
0B4 | -> | 0 (pcan) | 5 | 2BLL.1.54.out.S |
CFW2CAN1: Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B0 | -> | 1 (cfw2can) | 1 | 2BLL.1.50.out.S |
1B1 | -> | 1 (cfw2can) | 2 | 2BLL.1.57.out.S |
1B2 | -> | 1 (cfw2) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor (shoulder) | -> | 1 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 1 (cfw2can) | 11 | - - - |
Strain | -> | 1 (cfw2can) | 13 | strain.hex |
CFW2CAN5: Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B3 | -> | 5 (cfw2can) | 5 (6) | 4DC.1.28.out.S |
1B4 | -> | 5 (cfw2can) | 7 (8) | 4DC.1.30.out.S |
MAIS | -> | 5 (cfw2can) | 14 | mais.hex |
CFW2CAN2: Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B0 | -> | 2 (cfw2can) | 1 | 2BLL.1.50.out.S |
2B1 | -> | 2 (cfw2can) | 2 | 2BLL.1.57.out.S |
2B2 | -> | 2 (cfw2can) | 3 (4) | 4DC.1.19.out.S |
virtual FT joint sensor (shoulder) | -> | 2 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 2 (cfw2can) | 11 | - - - |
Strain | -> | 2 (cfw2can) | 13 | strain.hex |
CFW2CAN6: Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B3 | -> | 6 (cfw2can) | 5 (6) | 4DC.1.28.out.S |
2B4 | -> | 6 (cfw2can) | 7 (8) | 4DC.1.30.out.S |
MAIS | -> | 6 (cfw2can) | 14 | mais.hex |
CFW2CAN3: left leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B5 | -> | 3 (cfw2can) | 5 | 2BLL.1.51.out.S |
3B6 | -> | 3 (cfw2can) | 6 | 2BLL.1.51.out.S |
3B7 | -> | 3 (cfw2can) | 7 | 2BLL.1.51.out.S |
virtual FT joint sensor | -> | 3 (cfw2can) | 12 | - - - |
Strain | -> | 3 (cfw2can) | 13 | strain.hex |
CFW2CAN4: right leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B8 | -> | 4 (cfw2can) | 8 | 2BLL.1.51.out.S |
3B9 | -> | 4 (cfw2can) | 9 | 2BLL.1.51.out.S |
3B10 | -> | 4 (cfw2can) | 10 | 2BLL.1.51.out.S |
virtual FT joint sensor | -> | 4 (cfw2can) | 11 | - - - |
Strain | -> | 4 (cfw2can) | 14 | strain.hex |
CFW2CAN7: Skin Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B7 (HAND) | -> | 7 (cfw2can) | 14 | skin.hex |
1B9 (FOREARM UPPER) | -> | 7 (cfw2can) | 13 | skin.hex |
1B8 (FOREARM LOWER) | -> | 7 (cfw2can) | 12 | skin.hex |
CFW2CAN8: Skin Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B7 (HAND) | -> | 8 (cfw2can) | 14 | skin.hex |
2B9 (FOREARM UPPER) | -> | 8 (cfw2can) | 13 | skin.hex |
2B8 (FOREARM LOWER) | -> | 8 (cfw2can) | 12 | skin.hex |
iCub v1.x.1 ( x>1 )
We here describe the CAN-bus networks structure of the iCub v1.x.1 ( x>1 ). The version 1.x.1 uses the Head V2. For CAN-bus network different from NET0 refer to relative iCub version
can-bus network | configuration file | associated robot part |
---|---|---|
0 | icub_head_torso.ini | head and torso |
Details on the control boards connected to network 0 are given in the following.
CFW2CAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (cfw2can) | 1 | 2BLLDC.1.62.out.S |
0B1 | -> | 0 (cfw2can) | 2 (3) | 4DC.2.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (cfw2can) | 6 | 2BLL.1.52.out.S |
0B4 | -> | 0 (cfw2can) | 5 | 2BLL.1.54.out.S |
iCub v2
We here describe the CAN-bus networks structure of the iCub v2
CFW2CAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (cfw2can) | 1 | 2BLLDC.1.62.out.S |
0B1 | -> | 0 (cfw2can) | 2 (3) | 4DC.2.15.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (cfw2can) | 6 | 2BLL.2.52.out.S |
0B4 | -> | 0 (cfw2can) | 5 | 2BLL.2.54.out.S |
6SG (optional) | -> | 0 (cfw2can) | 14 | 6sg.hex |
CFW2CAN1: Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B0 | -> | 1 (cfw2can) | 1 | 2BLL.2.50.out.S |
1B1 | -> | 1 (cfw2can) | 2 | 2BLL.2.57.out.S |
1B2 | -> | 1 (cfw2) | 3 (4) | 4DC.2.19.out.S |
virtual FT joint sensor (shoulder) | -> | 1 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 1 (cfw2can) | 11 | - - - |
Strain | -> | 1 (cfw2can) | 13 | strain.hex |
6SG Shoulder (optional) | -> | 1 (cfw2can) | 9 | 6sg.hex |
CFW2CAN5: Left hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B3 | -> | 5 (cfw2can) | 5 (6) | 4DC.2.28.out.S |
1B4 | -> | 5 (cfw2can) | 7 (8) | 4DC.2.30.out.S |
MAIS | -> | 5 (cfw2can) | 14 | mais.hex |
CFW2CAN2: Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B0 | -> | 2 (cfw2can) | 1 | 2BLL.2.50.out.S |
2B1 | -> | 2 (cfw2can) | 2 | 2BLL.2.57.out.S |
2B2 | -> | 2 (cfw2can) | 3 (4) | 4DC.2.19.out.S |
virtual FT joint sensor (shoulder) | -> | 2 (cfw2can) | 12 | - - - |
virtual FT joint sensor (wrist) | -> | 2 (cfw2can) | 11 | - - - |
Strain | -> | 2 (cfw2can) | 13 | strain.hex |
6SG Shoulder (optional) | -> | 1 (cfw2can) | 9 | 6sg.hex |
CFW2CAN6: Right hand
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B3 | -> | 6 (cfw2can) | 5 (6) | 4DC.1.28.out.S |
2B4 | -> | 6 (cfw2can) | 7 (8) | 4DC.1.30.out.S |
MAIS | -> | 6 (cfw2can) | 14 | mais.hex |
CFW2CAN3: left leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B5 | -> | 3 (cfw2can) | 5 | 2BLL.2.51.out.S |
3B6 | -> | 3 (cfw2can) | 6 | 2BLL.2.51.out.S |
3B7 | -> | 3 (cfw2can) | 7 | 2BLL.2.51.out.S |
virtual FT joint sensor | -> | 3 (cfw2can) | 12 | - - - |
Strain | -> | 3 (cfw2can) | 13 | strain.hex |
6SG Upper Leg (optional) | -> | 3 (cfw2can) | 1 | 6sg.hex |
6SG Lower Leg (optional) | -> | 3 (cfw2can) | 2 | 6sg.hex |
CFW2CAN4: right leg
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
3B8 | -> | 4 (cfw2can) | 8 | 2BLL.2.51.out.S |
3B9 | -> | 4 (cfw2can) | 9 | 2BLL.2.51.out.S |
3B10 | -> | 4 (cfw2can) | 10 | 2BLL.2.51.out.S |
virtual FT joint sensor | -> | 4 (cfw2can) | 11 | - - - |
Strain | -> | 4 (cfw2can) | 14 | strain.hex |
6SG Upper Leg (optional) | -> | 4 (cfw2can) | 1 | 6sg.hex |
6SG Lower Leg (optional) | -> | 4 (cfw2can) | 2 | 6sg.hex |
CFW2CAN7: Skin Left arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
1B7 (HAND) | -> | 7 (cfw2can) | 14 | skin.hex |
1B8 (LEFT LOWER FOREARM) | -> | 7 (cfw2can) | 12 | skin.hex |
1B9 (LEFT UPPER FOREARM) | -> | 7 (cfw2can) | 13 | skin.hex |
1B10 (LEFT UPPER EXTERNAL) | -> | 7 (cfw2can) | 10 | skin.hex |
1B11 (LEFT UPPER BOTTOM) | -> | 7 (cfw2can) | 11 | skin.hex |
1B12 (LEFT UPPER INTERNAL) | -> | 7 (cfw2can) | 9 | skin.hex |
1B13 (LEFT LOWER UPPERARM) | -> | 7 (cfw2can) | 8 | skin.hex |
CFW2CAN8: Skin Right arm
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
2B7 (HAND) | -> | 8 (cfw2can) | 14 | skin.hex |
2B8 (LEFT LOWER FOREARM) | -> | 8 (cfw2can) | 12 | skin.hex |
2B9 (LEFT UPPER FOREARM) | -> | 8 (cfw2can) | 13 | skin.hex |
2B10 (RIGHT UPPER EXTERNAL) | -> | 8 (cfw2can) | 10 | skin.hex |
2B11 (RIGHT UPPER BOTTOM) | -> | 8 (cfw2can) | 11 | skin.hex |
2B12 (RIGHT UPPER INTERNAL) | -> | 8 (cfw2can) | 9 | skin.hex |
2B13 (RIGHT LOWER UPPERARM) | -> | 8 (cfw2can) | 8 | skin.hex |
CFW2CAN9: Skin Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B7 | -> | 9 (cfw2can) | 7 | skin.hex |
0B8 | -> | 9 (cfw2can) | 8 | skin.hex |
0B9 | -> | 9 (cfw2can) | 9 | skin.hex |
0B10 | -> | 9 (cfw2can) | 10 | skin.hex |
iCub v2 - Talking Head
We here describe the CAN-bus networks structure of the iCub v2 - Talking Head
CFW2CAN0: Head and Torso
Head
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B0 | -> | 0 (cfw2can) | 1 | 2BLLDC.1.62.out.S |
0B1 | -> | 0 (cfw2can) | 2 (3) | 4DC.2.15.out.S |
0B7 | -> | 0 (cfw2can) | 7 (8) | 4DC.2.15.out.S |
0B9 | -> | 0 (cfw2can) | 9 (10) | 4DC.1.11.out.S |
Torso
boardLabel | canDeviceNum | boardId | firmware | |
---|---|---|---|---|
0B3 | -> | 0 (cfw2can) | 6 | 2BLL.2.52.out.S |
0B4 | -> | 0 (cfw2can) | 5 | 2BLL.2.54.out.S |
6SG (optional) | -> | 0 (cfw2can) | 14 | 6sg.hex |
iCub 2.5 - Wiring <= 3.2
We here describe the ETH and CAN-bus firmware association structure of the iCub v2.5 (Wiring <= 3.2)
IP address | Board Name(firmware) | Atatched CAN Boards(firmware) | Services |
---|---|---|---|
10.0.1.1 | EB1 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN(strain.hex) CAN2:13 |
MC: left arm joints 0 -> 3 STRAIN |
10.0.1.2 | EB2 (ems.hex) | MC4(4DC.2.19.out.S) CAN1:3 MC4(4DC.2.28.out.S) CAN1:5 MC4(4DC.2.30.out.S) CAN1:7 MAIS(mais.hex) CAN1:14 MTB(mtb.hex) CAN2:8 MTB(mtb.hex) CAN2:9 MTB(mtb.hex) CAN2:10 MTB(mtb.hex) CAN2:11 MTB(mtb.hex) CAN2:12 MTB(mtb.hex) CAN2:13 MTB(mtb.hex) CAN2:14 |
MC: left arm joints 4 -> 11 MAIS left hand SKIN left arm INERTIALS: left arm |
10.0.1.3 | EB3 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN(strain.hex) CAN2:13 |
MC: right arm joints 0 -> 3 STRAIN |
10.0.1.4 | EB4 (ems.hex) | MC4(4DC.2.19.out.S) CAN1:3 MC4(4DC.2.28.out.S) CAN1:5 MC4(4DC.2.30.out.S) CAN1:7 MAIS(mais.hex) CAN1:14 MTB(mtb.hex) CAN2:8 MTB(mtb.hex) CAN2:9 MTB(mtb.hex) CAN2:10 MTB(mtb.hex) CAN2:11 MTB(mtb.hex) CAN2:12 MTB(mtb.hex) CAN2:13 MTB(mtb.hex) CAN2:14 |
MC: right arm joints 4 -> 11 MAIS right hand SKIN right arm INERTIALS: right arm |
10.0.1.5 | EB5 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 |
MC: torso joints 0 -> 2 |
10.0.1.6 | EB6 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN(strain.hex) CAN2:13 |
MC: left leg joints 0 -> 3 STRAIN |
10.0.1.7 | EB7 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN2:1 |
MC: left leg joints 4 -> 5 STRAIN |
10.0.1.8 | EB8 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN(strain.hex) CAN2:13 |
MC: right leg joints 0 -> 3 STRAIN |
10.0.1.9 | EB9 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN2:1 |
MC: right leg joints 4 -> 5 STRAIN |
10.0.1.10 | EB10 (ems.hex) | MTB(mtb.hex) CAN1:1 MTB(mtb.hex) CAN1:2 MTB(mtb.hex) CAN1:3 MTB(mtb.hex) CAN1:4 MTB(mtb.hex) CAN1:5 MTB(mtb.hex) CAN1:6 MTB(mtb.hex) CAN1:7 MTB(mtb.hex) CAN2:8 MTB(mtb.hex) CAN2:9 MTB(mtb.hex) CAN2:10 MTB(mtb.hex) CAN2:11 MTB(mtb.hex) CAN2:12 MTB(mtb.hex) CAN2:13 |
SKIN: left leg INERTIALS: left leg |
10.0.1.11 | EB11 (ems.hex) | MTB(mtb.hex) CAN1:1 MTB(mtb.hex) CAN1:2 MTB(mtb.hex) CAN1:3 MTB(mtb.hex) CAN1:4 MTB(mtb.hex) CAN1:5 MTB(mtb.hex) CAN1:6 MTB(mtb.hex) CAN1:7 MTB(mtb.hex) CAN2:8 MTB(mtb.hex) CAN2:9 MTB(mtb.hex) CAN2:10 MTB(mtb.hex) CAN2:11 MTB(mtb.hex) CAN2:12 MTB(mtb.hex) CAN2:13 |
SKIN: right leg INERTIALS: right leg |
iCub 2.5 - Wiring > 3.2
We here describe the ETH and CAN-bus firmware association structure of the iCub v2.5 (Wiring > 3.2)
IP address | Board Name(firmware) | Atatched CAN Boards(firmware) | Services |
---|---|---|---|
10.0.1.1 | EB1 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN2(strain2.hex) CAN2:13 |
MC: left arm joints 0 -> 3 STRAIN2 |
10.0.1.3 | EB3 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN2(strain2.hex) CAN2:13 |
MC: right arm joints 0 -> 3 STRAIN2 |
10.0.1.5 | EB5 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 |
MC: torso joints 0 -> 2 |
10.0.1.6 | EB6 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN2(strain2.hex) CAN2:13 |
MC: left leg joints 0 -> 3 STRAIN2 |
10.0.1.7 | EB7 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN2:1 STRAIN2(strain2.hex) CAN2:13 |
MC: left leg joints 4 -> 5 STRAIN2 |
10.0.1.8 | EB8 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN1:3 2FOC(2foc.hex) CAN1:4 STRAIN2(strain2.hex) CAN2:13 |
MC: right leg joints 0 -> 3 STRAIN2 |
10.0.1.9 | EB9 (ems.hex) | 2FOC(2foc.hex) CAN1:1 2FOC(2foc.hex) CAN1:2 2FOC(2foc.hex) CAN2:1 STRAIN2(strain2.hex) CAN2:13 |
MC: right leg joints 4 -> 5 STRAIN2 |
10.0.1.10 | EB10 (ems.hex) | MTB4(mtb4.hex) CAN1:1 MTB4(mtb4.hex) CAN1:2 MTB4(mtb4.hex) CAN1:3 MTB4(mtb4.hex) CAN1:4 MTB4(mtb4.hex) CAN1:5 MTB4(mtb4.hex) CAN1:6 MTB4(mtb4.hex) CAN1:7 MTB4(mtb4.hex) CAN2:8 MTB4(mtb4.hex) CAN2:9 MTB4(mtb4.hex) CAN2:10 MTB4(mtb4.hex) CAN2:11 MTB4(mtb4.hex) CAN2:12 MTB4(mtb4.hex) CAN2:13 |
SKIN: left leg INERTIALS: left leg |
10.0.1.11 | EB11 (ems.hex) | MTB4(mtb4.hex) CAN1:1 MTB4(mtb4.hex) CAN1:2 MTB4(mtb4.hex) CAN1:3 MTB4(mtb4.hex) CAN1:4 MTB4(mtb4.hex) CAN1:5 MTB4(mtb4.hex) CAN1:6 MTB4(mtb4.hex) CAN1:7 MTB4(mtb4.hex) CAN2:8 MTB4(mtb4.hex) CAN2:9 MTB4(mtb4.hex) CAN2:10 MTB4(mtb4.hex) CAN2:11 MTB4(mtb4.hex) CAN2:12 MTB4(mtb4.hex) CAN2:13 |
SKIN: right leg INERTIALS: right leg |
10.0.1.20 | EB20 (mc4plus.hex) MC4PLUS |
No CAN boards | MC: head joints 0 -> 1 |
10.0.1.21 | EB21 (mc4plus.hex) MC4PLUS |
RFE(rfe.hex) CAN1:1 | MC: head joints 2 -> 5 INERTIALS: head |
10.0.1.22 | EB22 (mc4plus.hex) MC4PLUS |
MTB4(mtb4.hex) CAN1:7 MTB4(mtb4.hex) CAN1:8 MTB4(mtb4.hex) CAN1:9 MTB4(mtb4.hex) CAN1:10 |
SKIN: torso |
10.0.1.24 | EB24 (mc4plus.hex) MC4PLUS |
MTB4(mtb4.hex) CAN1:8 MTB4(mtb4.hex) CAN1:9 MTB4(mtb4.hex) CAN1:10 MTB4(mtb4.hex) CAN1:11 MTB4(mtb4.hex) CAN1:12 MTB4(mtb4.hex) CAN1:13 MTB4(mtb4.hex) CAN1:14 |
MC: left arm joints 4 -> 7 SKIN: left arm |
10.0.1.25 | EB25 (mc4plus.hex) MC4PLUS |
MAIS(mais.hex) CAN1:14 | MC: left arm joints 8 -> 11 |
10.0.1.26 | EB26 (mc4plus.hex) MC4PLUS |
MAIS(mais.hex) CAN1:14 | MC: left arm joints 12 -> 15 |
10.0.1.27 | EB27 (mc4plus.hex) MC4PLUS |
MTB4(mtb4.hex) CAN1:8 MTB4(mtb4.hex) CAN1:9 MTB4(mtb4.hex) CAN1:10 MTB4(mtb4.hex) CAN1:11 MTB4(mtb4.hex) CAN1:12 MTB4(mtb4.hex) CAN1:13 MTB4(mtb4.hex) CAN1:14 |
MC: right arm joints 4 -> 7 SKIN: right arm |
10.0.1.28 | EB28 (mc4plus.hex) MC4PLUS |
MAIS(mais.hex) CAN1:14 | MC: right arm joints 8 -> 11 |
10.0.1.29 | EB29 (mc4plus.hex) MC4PLUS |
MAIS(mais.hex) CAN1:14 | MC: right arm joints 12 -> 15 |