SetCANCommand using the CANOpen

4 years 8 months ago #29531783 by Dman
I am using two Roboteq motor controllers together. The first one has a script running in it. They are connect together using a CANOpen on a PLC. I used the SDO and was able to sent the VAR 9 to then set the speed using a script in the second motor control. We would like to use the SetCANCommand(3,_G, 1, 500) inside the motor controller 1 script but it is not working. This command should set the node 3, motor control channel 1 to 50% power. The CANOpen Master is node1, the first roboteq control is node2 and the second roboteq control is node 3. Please send the entire script or setup procedure if you know how?

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4 years 8 months ago #29531789 by niko
The SetCANCommand function is used only when using the RoboCAN protocol. Since you use CANOpen you cannot use this function.

What you can do is to use the CANOped SDO commands as stated in TABLE 16. Object Dictionary in user manual. Below are the additional command that are missing from documentation.

Index Sub Entry Name
0x2000 01 Set Motor Command, ch1 CG CANGO
02 Set Motor Command, ch2

0x2121 00 Read Magsensor Gyroscope MGY MGYRO

0x2122 00 Read Motor Status Flags FM MOTFLAG

0x2123 01 Read Hall Sensor States, ch1 HS HSENSE
02 Read Hall Sensor States, ch2

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4 years 8 months ago #29531793 by Dman
I would like to use the PDO because it is faster. My robot will respond quicker with PDO because it is reads and writes directly to memory locations of the PLC. What are the commands to write to the _VAR1 from the Master Roboteq (node 2) script to the PLC? Then the PLC CANOpen node 1 will write this value using the _VAR9 of the second Roboteq on node 3.

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4 years 8 months ago #29531796 by niko
Check tables 14 and 15 of the user manual, concerning the structure of the PDOs.

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