CANopen

Hi,

I have a new problem with HDC2450 and HBL1650.

I want to pilot them via CAN bus.

I'm using file "roboteq_motor_controllers_v20.eds" and "nxtgen_controllers_userman".

In "nxtgen_controllers_userman", there are explanations for the file "roboteq_motor_controllers_v20.eds" . But I don't know CAN frame for "set command" ( setcommand(_G, 1, 200) ). Because, in Object Dictionary, we can set position, velocity, acceleration, deceleration... I don't see a command for PWM!

Do you have the latest Object Dictionary ?

Thanks

In "roboteq_motor_controllers_v20.eds" file,
there is:

Thanks to this command, we can generate a PWM signal. But I don't know how to use it with CANopen.

If I set the PWM signal at 200, how do I do ?

You must have a CANOpen program like CANopenMagic. See www.canopenmagic.com/en/versions.html

Similar packages are available from other vendors.

You will then use an SDO to send the value 200 to the CAN_GO object

For frame "Cmd_CANGO", I would like to know its ID, message type, lenght and data ?

it is a 0x2000 and it is a 32-bit number. To be sure, open the EDS file with a text editor and do a search of CAN_GO.

With a good CANOpen tool, after you load the EDS, you will see all the objects and you can then click on the desired object and send the data.

for 20% of PWM, the data is 0x200 ?

it will be 200 decimal = 0xC8 hex

For 20% of PWM and for motor 1,

With an other CANopen tool , I have to do:

Index = 2000
Sub Index = 01
Data = DefaultValue = 0xC8
And Node ID, do I set a value ?