RoboteQ CANBus Series - Page 42

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CANopen Interface

42 CANBus Networking Manual V2.0 July 8, 2019

Main Page

Revision History2
Table of Contents3
Introduction5
Refer to the Datasheet for Hardware-Specific Issues5
User Manual Structure and Use5
CAN Networking on Roboteq Controllers7
Supported CAN Modes7
Connecting to CAN Bus8
Introduction to CAN Hardware Signaling9
CAN Bus Pinout9
CAN and USB Limitations10
Basic Setup and Troubleshooting10
Cable Polarity, Integrity and Termination Resistor11
Check Canbus Activity Using a Voltmeter11
Check Canbus Activity Using a CAN Sniffer11
Mode Selection and Configuration11
Common Configurations12
Minican Configurations12
Rawcan Configurations12
Using Rawcan Mode12
Checking Received Frames12
Reading Raw Received Frames13
Transmitting Raw Frames13
Using Minican Mode14
Transmitting Data14
Receiving Data14
Minican Usage Example15
Robocan Networking17
Network Operation18
Robocan Via Serial & USB18
Runtime Commands18
Broadcast Command18
Realtime Queries19
Remote Queries Restrictions19
Configurations Read/Writes20
Remote Configurations Read Restrictions20
Remote Maintenance Commands20
Self Addressed Commands and Queries21
Robocan Via Microbasic Scripting21
Sending Commands and Configuration21
Reading Operating Values Configurations22
Continuous Scan23
Checking the Presence of a Node25
Self Addressed Commands and Queries25
Broadcast Command25
Remote Microbasic Script Download25
Canopen Interface27
Use and Benefits of Canopen27
CAN Connection27
Bit Rate28
Heartbeat28
Autostart28
CAN Bus Configuration28
Node ID28
Commands Accessible Via Canopen29
Canopen Message Types29
Service Data Object (SDO) Read/Write Messages29
Transmit Process Data Object (TPDO) Messages29
Receive Process Data Object (RPDO) Messages30
PDO Mapping31
PDO Transmission Type32
Object Dictionary33
Communication Profile33
Runtime Commands34
Runtime Queries34
DS402 Profile37
SDO Construction Details39
SDO Example 1: Set Encoder Counter 2 (C) of Node 1 Value 1039
SDO Example 2: Activate Emergency Shutdown (EX) for Node 1240
SDO Example 3: Read Battery Volts (V) of Node 140
DS402 Implementation on Roboteq Motor Controllers43
Abbreviations43
Introduction43
What Is DS40243
Implementation44
Index Range & Channel Selection44
Modes of Operation44
Supported Sdos45
Pds Fsa45
SDO Description47
0X6040 - Control Word47
0X6041 - Status Word49
0X6042 - VL Target Velocity51
0X6043 - VL Velocity Demand51
0X6044 - VL Velocity Actual Value51
0X6046 - VL Velocity Min Max Amount52
0X6048 - VL Velocity Acceleration52
0X6049 - VL Velocity Deceleration53
0X6060 - Modes of Operation53
0X6061 - Modes of Operation Display53
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 Modes56
0X67Fe - Version Number56
References56

RoboteQ CANBus Series - Page 42

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