HBL1650 MiniCAN

Hello,

I used the MicroBasic script example in the user manuel for MiniCAN configuration of HBL1650 :

top:
speed=getvalue(_VAR,9)
setcommand(_G, 1, speed)
motor_amps=getvalue(_A,1)
setcommand(_VAR, 1, motor_amps)
print(speed, " " ,motors_amps, "\n")
wait(10)
goto top


The nodeID is configured as 100.

To send a value to Var9 through CAN, is it correct if I configured the header as follow :

RPDO1 : 0x200 + 100 ?

Is the nodeID configuration a hexadecimal value?

Isn't 0x200 a hexadecimal number? And is the 100 configured in the Roborun nodeID a hexadecimal number as well? If it is not then it is a decimal number? Shouldn't I convert 100 in decimal to 64 in hexadecimal? In this case isn't the RPDO1 : 0x200+nodeID be equals to 264?

If I want to send 1000 to Var9, is it correct if I send 0X000003E8? Or E8030000?

Does Roboteq read the header number in hexadecimal? Or in decimal? Because in the Pcan window the header is sent in hexadecimal format. I have inserted the photo in the file.

Hex or decimal is just a maner of representing a number. 0x264 is 0x200 (hex) + 100 (dec).

After I have written the MicroBasic script and downloaded it into Roboteq, does it run automatically? Or I have to call the script via CAN message?

Thanks. But how do I call run the script without clicking on the 'run' button in Roborun? I know by sending !r serial command is possible but since I am using CAN and USB cannot works at the same time with CAN so sending !r is not possible. In this case how do I send !r in CAN message? Is there a way to convert !r to binary data?

You cannot use USB while using CAN, but you can use RS232. If your computer doesn't have an RS232 port, you will need a USB to RS232 adapter.