CANopen

6 years 4 months ago #29529234 by Beginner
CANopen was created by Beginner
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

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6 years 3 months ago #29529261 by Beginner
Replied by Beginner on topic CANopen
In "roboteq_motor_controllers_v20.eds" file,
there is:
[2000]
ParameterName=Cmd_CANGO
SubNumber=3
ObjectType=0x8

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 ?

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6 years 3 months ago #29529264 by roboteq
Replied by roboteq on topic CANopen
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

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6 years 3 months ago #29529265 by Beginner
Replied by Beginner on topic CANopen
For frame "Cmd_CANGO", I would like to know its ID, message type, lenght and data ?

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6 years 3 months ago #29529267 by roboteq
Replied by roboteq on topic CANopen
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.

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6 years 3 months ago #29529273 by Beginner
Replied by Beginner on topic CANopen
for 20% of PWM, the data is 0x200 ?

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6 years 3 months ago #29529274 by roboteq
Replied by roboteq on topic CANopen
it will be 200 decimal = 0xC8 hex

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6 years 3 months ago - 6 years 3 months ago #29529275 by Beginner
Replied by Beginner on topic CANopen
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 ?

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