RoboteQ CANBus Series User Manual

4 CANBus Networking Manual V2.0 July 8, 2019
Bit Rate .................................................................................................... 28
Heartbeat ................................................................................................. 28
Autostart .................................................................................................. 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
SECTION 4
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
3.21 0x6502 - Supported Drive Modes .................................................... 56
3.22 0x67FE - Version Number ................................................................ 56
References ............................................................................................... 56

RoboteQ CANBus Series Specifications

General

Brand	RoboteQ
Model	CANBus Series
Category	Controller
Language	English