RoboteQ CANBus Series - Table of Contents

CANBus Networking Manual 3
Revision History ......................................................................................... 2
Introduction ................................................................................................ 5
Refer to the Datasheet for Hardware-Specific Issues ................................ 5
User Manual Structure and Use ................................................................. 5
SECTION 1
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
SECTION 2
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
SECTION 3
CANopen Interface ...................................................................................................27
Use and benefits of CANopen ................................................................. 27
CAN Connection ...................................................................................... 27
CAN Bus Configuration ............................................................................ 28
Node ID .................................................................................................... 28