CAN OPEN PDO's and NMT

5 years 2 months ago #29530926 by kitepowersolutions
Could you give me a example of a PDO message that I could transmit to the controller to set a speed target for example, I am a little confused by the sub indexes and how I configure my message.

Is it for example if I wanted to transmit to RPDO1

[0x200 (+node ID )] [first 4 bytes][second 4 bytes]
VAR9 VAR10
so if Roboteq contoller is node 3
I should send
0x203[double word][double word] ??

Table 15 gives values as 0x2005-9 for VAR 9 which I identify as a SDO format, in the Unitronics PLC that I am using it will not let me address PDO's by subindex in this manner
It allows
[COBID][Value 8 bytes]

Additionally I have been unable to get a response from node check for the Roboteq controllers are there any issues with the NMT on the controllers or do I have to do something more specific

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5 years 2 months ago #29530934 by kitepowersolutions
Additonally after speaking to Unitronics technical support
Is there anything additonal I need to do to in roboteq or microbasic to activate PDO's so that The controller can receive commands
Are all the PDO mapped to VAR integers or are the PDO paramaters in the .eds file correct, my experiments show that RPDO's are mapped diffrently to the .eds file.

Do I need to configure the transmission type in order for the contoller to accept PDO's?

I am using a SBL1330 are there any known CAN issues with PDO's on this device?

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5 years 2 months ago #29530937 by TechSupport
Replied by TechSupport on topic CAN OPEN PDO's and NMT
I believe you meant SBL1360 as we don't make or sell the 30V version of this controller.

You have to make sure you are not in any way directly connected between the controller and a usb port as it will prevent you from using the can bus.

You also need to enable the canopen auto start as well as the other parameters such as bit rate and heartbeat.

Page 127 of the user manual.

Transmit PDO (TPDO) messages are one of the two types of PDO messages that are used
during operation.

TPDOs are runtime operating parameters that are sent automatically on a periodic basis
from the controller to one or multiple nodes. TPDOs do not alter object data; they only read
internal controller values and transmit them to the CAN bus.
TPDOs are identified on a CANopen network by the bit pattern in the 11-bit header of the
CAN frame.
TPDO1: 0x180 + Node ID
TPDO2: 0x280 + Node ID
TPDO3: 0x380 + Node ID
TPDO4: 0x480 + Node ID
CANopen allows up to four TPDOs for any node ID. TPDO1 to TPDO4 are used to transmit
up to 8 user variables which may be loaded with any operating parameters using MicroBasic
scripting.

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5 years 2 months ago #29530938 by kitepowersolutions
I am using the SBL1360, but have also tried on a MBL 1660

I have already navigated the USB problems, set the autostart, bit rate, node id and listen node id, etc, infact it runs just fine where TPDO, SDO are concerned the trouble I have is that I cannot get it to accept any RPDO's; the mapping paramaters in the .eds file dont match those in the controller!

however having extracted the correct map directly from the mapping paramaters using SDO messages I still do not get anything received by the controller.

I need to activate the RPDO in the contoller some how, could it be the transmission type setting? its currently set to 255 (asynchronous) according to the .eds file, is this correct?

Why might the contoller not match the .eds file?

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5 years 2 months ago #29530939 by TechSupport
Replied by TechSupport on topic CAN OPEN PDO's and NMT
The EDS file is wrong when it comes to the PDO's.

PDOs are mapped to VARs as shown in the manual. Please try this eds which should have
the PDOs corrected.
Attachments:

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5 years 2 months ago #29530941 by kitepowersolutions
That makes more sense in terms of the details I extracted from the hardware although it still dosent match the manual which has RPDO as VARS 9 to 16 the eds. shows VAR 1 to 8 and visa versa for the TPDO's.

Anyway how about the transmission type, should I possible change from 255 in RPDO paramaters?

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5 years 2 months ago #29530942 by TechSupport
Replied by TechSupport on topic CAN OPEN PDO's and NMT
We will investigate this.

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5 years 2 months ago #29530949 by kitepowersolutions
Hi, I have solved my issues with PDO's it was external to the RoboteQ contoller.
An additonal question what falue should I transmit over the CANOPEN bus to index 200C to engage emergency shutdown? Is it simple a 1

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5 years 2 months ago #29530951 by TechSupport
Replied by TechSupport on topic CAN OPEN PDO's and NMT
yes, it should be as simple as send 1.

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