CANOpen operation

3 years 3 weeks ago #29532866 by giantpt
CANOpen operation was created by giantpt
Hello,

The more I read about CANOpen, more questions I have that are not described on the manual.

1) The motor command goes from -1000 to 1000, how are the negative values written in Hex?
2) Once I have all CAN parameters set on the "Configuration" tab, will the controller start to respond to CANOpen commands coming from the CAN port or do I have to write a specific script to enable it?
3) My RoboteQ will be connected to a micro-controller (Arduino) which will be the user interface and I'll need to get a bunch of queries from the RoboteQ to be displayed on an oLed screen and also to decide behaviours, queries like "battery volts", "battery amps", "motor amps", "encoder count", "temp", "fault flags" and "status flags".
Is it better to be the arduino to query those items or is it better to write an internal script for the RoboteQ to send them via CAN periodically?
4) On the SDO/PDO Object Dictionary whats the meaning for the "Data Type & Access" like the "S32 WO", "U8 RO"?
Is the RO a "read" and the WO a "write"? What the meaning of the "S" or "U"? Is the 8 or 16 or 32 the data length?

Well, thats all for now but I believe I'll have more questions soon.

Thanks

Cheers

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3 years 3 weeks ago #29532878 by giantpt
Replied by giantpt on topic CANOpen operation
Well... no suggestions? RoboteQ team??

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3 years 3 weeks ago #29532885 by niko
Replied by niko on topic CANOpen operation
Hello and sorry for the late reply,

1) As usually negative numbers are represented in hex format. ( mathforum.org/library/drmath/view/55998.html )
2) No, this is the point of CANOpen. SDOs are executed by controller firmware.
3) Depends on you. Most probably the script will be faster and more immediate.
4) RO = read only, WO = write only, S32 = 32-bits signed, U16 = 16-bits unsigned.

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3 years 2 weeks ago #29532890 by giantpt
Replied by giantpt on topic CANOpen operation
Thank you Niko for your help,
Could you post a script example for the controller to send, lets say, the volts through the can?

Cheers

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3 years 1 week ago #29532900 by giantpt
Replied by giantpt on topic CANOpen operation
So ????

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3 years 1 week ago #29532907 by niko
Replied by niko on topic CANOpen operation
The only way to do that is using TPDO. Check script example in page 157 of the user manual. For CANOpen it works the same.

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2 years 2 months ago #29533460 by jking@foriauto.com
Page 157 no longer has a script on it. is there a new page for the current manual? or can you just post the example of the CANopen situation here? I am trying to write current, temp, etc. to the TPDO without using microscripts and am struggling to find the way to do this.

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