Control robot with 2 XDC2460S + RoboCAN

I'm using two roboteq XDC2460S to drive two motors of a a large robot in 'tank style' configuration. I understand that i need to configure a master/slave relationship and that the master will provide the mixing of RC commands and communicate to the second controller via CANbus.

The wiring on DB15, do i wire directly pin 6 of controller 1 to pin 6 of controller 2? same for pin 7. using twisted pair. distance is very short in my case.

"RoboCAN" is not a word that appears in the 244 page manual. where can i get info on what i need to know in order to configure roboteqs for my application? other than the two sources below, is there anything else i need to know?

dev.roboteq.com/dev1/index.php/component...l-robots?Itemid=1208

dev.roboteq.com/dev1/index.php/technology-menu/296-robocan

Next question - we are running in torque control mode using external current sensors. Do I run BOTH current sensors back to one roboteq (master), or one per roboteq?

Excellent, and thanks for reminder of termination resistor, i forgot about that (figure 60 in manual).

let's say that master roboteq decides by virtue of some script that there needs to be a change in amp limit. one could write:

and all will be well.
but how does Master roboteq tell Slave roboteq to do the same thing? this would have to be via CAN, would the script code look like this?:

could both lines above be replaced with this single:

lets say i have Master Roboteq configuration set to Mix 1 (does this even have meaning in a single channel controller??) my RC receiver channel 1 and 2 are both wired to only the Master. so The master Roboteq will take the commands and will drive one motor (which was proven) but to get it to use its already calculated command for the other separate tank style motor it has to send this command via Canbus? and this can only be done within the script? so i suppose it would be good if the script's wait time were set to 0.

what is the name of the variable that is for motor power to be sent to canbus?

i thought it might have meaning because motor was doing something when in mixed mode. ok, i go to separate mode and make the RC mixing via script.

Master = Canbus Node 1
Slave = Canbus Node 2

Master has to set speeds by sending _G commands to Slave at Node 2
Slave has to listen to Master at Node 1

normally one would make these selections in the configuration window and download to device. but when i make the selection and download it crashes, (i have a ticket in with Cosma). But i am under timeline, so i post here also my questions to resolve this issue. since it crashes from configuration window but seems to not crash when setting configurations via scripts. so now i am writing a huge script to make ALL the configurations... including the canbus. but i'm not sure what the syntax is for canbus configuration. all other configurations i think i found in the manual, but canbus. Can you please advise the syntax for CanBus configuraiton options? i can not find how to set IN SCRIPT canbus enable, rate, id, listen node etc.

ps. on crash issue, i cycled power many times. i re-flashed firmware. did not solve.

The code below (untested) recreates the mixing mode 1 and drives a local and a remote motor. Remote is node address 5 in this example

option explicit

dim ThrottleCmd as integer
dim SteeringCmd as integer

dim Motor_Speed_Right as integer
dim Motor_Speed_Left as integer

top:

ThrottleCmd = getvalue(_PIC, 1) ' Read throttle from Pulse input connected to throttle channel
SteeringCmd = getvalue(_PIC, 2) ' Read throttle from Pulse input connected to steering channel

' Mixing algorithm
Motor_Speed_Right = ThrottleCmd
Motor_Speed_Left = ThrottleCmd
Motor_Speed_Left -= SteeringCmd
Motor_Speed_Right += SteeringCmd

' Cap results within -1000 and +1000
if ( Motor_Speed_Left > 1000) then Motor_Speed_Left = 1000
if ( Motor_Speed_Left < -1000) then Motor_Speed_Left = -1000
if ( Motor_Speed_Right > 1000) then Motor_Speed_Right = 1000
if ( Motor_Speed_Right < -1000) then Motor_Speed_Right = -1000

' Apply to motors
setcommand(_G, 1, Motor_Speed_Left) ' Local controller
setcancommand(5, _G, 1, Motor_Speed_Right) ' Slave controller via RoboCAN

wait(10)
goto top

thanks, it was the "_PIC" variable i did not know. your script is just what i need.

however, as i emailed blake & cosma, i have trouble setting Canbus parameters on slave roboteq because download from configuration window causes an unrecoverable crash. seems however that i can download from Script.. so .. i need to know how to make all the Canbus parameter syntax from script in RoboCan format (rate, id, listen node, heartbeat). can you help with that? I looked at manual and two links at top of this thread and all i could find is that maybe setting canbus ID would be like this: setconfig(_CanID, 5) ?

Update, by random trial and error i discovered two of the seven Canbus config:
CNOD = canbus Node
CLSN = canbus Listen Node