How to TxPDO from Roboteq to Delta PLC CANOpen

4 years 6 months ago #29531766 by Dman
Does anyone know how to program a Delta PLC with a CANOpen DVPCOPM-SL to receive the TxPDO and send RxPDO to a roboteq motor controller? I used the CANOpen Builder from Delta Automation was used to setup the COB-ID 0x182 TxPDO to read the Roboteq Channel1 (2101 sub 1) and Channel2 (2101 sub 2). Then I downloaded the COB-ID to the roboteq using the PLC programmer cable and restarted everything. I did not see any errors on the CANOpen device however it was still not updating the memory address D6032 which should contain the TxPDO 0x182 from the roboteq. The TxPDO is set for 255 Asynchronous so it should update whenever the value is changed on the Roboteq?? Does some auxiliary bit need to be turn on for the the CANOpen to start send and receiving the PDO's?



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4 years 6 months ago #29531774 by niko
You need to send configuration command CTPS. See “CTPS - CANOpen TPDO Send Rate” on page 223 of the user manual.

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4 years 6 months ago #29531780 by Dman
I changed the CTPS. I used the Send in the Roboteq to set the ^CTPS. I want it to automatically start up the Roboteq with the CTPS set to 500 for 1 to 4. Do I have to setconfig(_CTPS, 1, 500) it in the script or in some type of configuration setup?

^CTPS 1 500

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4 years 6 months ago #29531787 by niko
All you have to do is when configuring CTPS via the console then type %eesav in order to save the configuration to flash. Then after power cycle you will have the TPDO sent.

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