RoboteQ RawCAN Manuals

Manuals and User Guides for RoboteQ RawCAN. We have 1 RoboteQ RawCAN manual available for free PDF download: User's Reference Manual

RoboteQ RawCAN User's Reference Manual (56 pages)

Brand: RoboteQ | Category: Controller | Size: 1 MB

Revision History
2
Table of Contents
3
Introduction
5
Refer to the Datasheet for Hardware-Specific Issues
5
User Manual Structure and Use
5
CAN Networking on Roboteq Controllers
7
Supported CAN Modes
7
Connecting to CAN Bus
8
Introduction to CAN Hardware Signaling
9
CAN Bus Pinout
9
CAN and USB Limitations
10
Basic Setup and Troubleshooting
10
Cable Polarity, Integrity and Termination Resistor
11
Check Canbus Activity Using a Voltmeter
11
Check Canbus Activity Using a CAN Sniffer
11
Mode Selection and Configuration
11
Common Configurations
12
Minican Configurations
12
Rawcan Configurations
12
Using Rawcan Mode
12
Checking Received Frames
12
Reading Raw Received Frames
13
Transmitting Raw Frames
13
Using Minican Mode
14
Transmitting Data
14
Receiving Data
14
Minican Usage Example
15
Robocan Networking
17
Network Operation
18
Robocan Via Serial & USB
18
Runtime Commands
18
Broadcast Command
18
Realtime Queries
19
Remote Queries Restrictions
19
Configurations Read/Writes
20
Remote Configurations Read Restrictions
20
Remote Maintenance Commands
20
Self Addressed Commands and Queries
21
Robocan Via Microbasic Scripting
21
Sending Commands and Configuration
21
Reading Operating Values Configurations
22
Continuous Scan
23
Checking the Presence of a Node
25
Self Addressed Commands and Queries
25
Broadcast Command
25
Remote Microbasic Script Download
25
Canopen Interface
27
Use and Benefits of Canopen
27
CAN Connection
27
Bit Rate
28
Heartbeat
28
Autostart
28
CAN Bus Configuration
28
Node ID
28
Commands Accessible Via Canopen
29
Canopen Message Types
29
Service Data Object (SDO) Read/Write Messages
29
Transmit Process Data Object (TPDO) Messages
29
Receive Process Data Object (RPDO) Messages
30
PDO Mapping
31
PDO Transmission Type
32
Object Dictionary
33
Communication Profile
33
Runtime Commands
34
Runtime Queries
34
DS402 Profile
37
SDO Construction Details
39
SDO Example 1: Set Encoder Counter 2 (C) of Node 1 Value 10
39
SDO Example 2: Activate Emergency Shutdown (EX) for Node 12
40
SDO Example 3: Read Battery Volts (V) of Node 1
40
DS402 Implementation on Roboteq Motor Controllers
43
Abbreviations
43
Introduction
43
What Is DS402
43
Implementation
44
Index Range & Channel Selection
44
Modes of Operation
44
Supported Sdos
45
Pds Fsa
45
SDO Description
47
0X6040 - Control Word
47
0X6041 - Status Word
49
0X6042 - VL Target Velocity
51
0X6043 - VL Velocity Demand
51
0X6044 - VL Velocity Actual Value
51
0X6046 - VL Velocity Min Max Amount
52
0X6048 - VL Velocity Acceleration
52
0X6049 - VL Velocity Deceleration
53
0X6060 - Modes of Operation
53
0X6061 - Modes of Operation Display
53
0X6064 - Position Actual Value (PP)
53
0X606C - Velocity Actual Value (PV)
54
0X6071 - Target Torque (TQ)
54
0X6077 - Torque Actual Value (TQ)
54
0X607A - Target Position (PP)
54
0X6081 - Profile Velocity (PP)
55
0X6083 - Profile Acceleration (PP)
55
0X6084 - Profile Deceleration (PP)
55
0X6087 - Torque Slope (TQ)
55
0X60Ff - Target Velocity (PV)
56
0X6502 - Supported Drive Modes
56
0X67Fe - Version Number
56
References
56

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RoboteQ RawCAN User's Reference Manual (56 pages)

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