un, FBL2360T CANopen with closed loop position relative

3 weeks 3 days ago - 3 weeks 3 days ago #29535146 by lelongg
I have a brushless motor connected to channel 2 of an FBL2360T and I can spin the motor in closed loop speed and in closed loop position relative from Roborun without issue.
However when connected to a computer through CAN interface I can spin the motor while in closed loop speed using the 0x68FF CANopen word, but the motor does not spin while in closed loop position relative when using the 0x687A CANopen word.

Did I miss something ?

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3 weeks 3 days ago #29535147 by Athanasios
Hi Lelongg,
the objects you are using are for DS402. Which mode are you using in DS402? 
if you do not want to use the DS402 then you should use the objects 0x2000-0x214A

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3 weeks 3 days ago #29535148 by lelongg
Hi Athanasios,
Yes I am using DS402 and the mode of operation displayed by object 0x6861 is 0xFF, which means -1, which means Closed loop position relative mode, which map to CANopen DS402 Profile position mode,  if I got this right.
I did not set this mode through CAN but by selecting Closed loop position relative in Roborun.
I assume I am correctly using the DS402 state machine as I'm able to drive the motor in Profile Velocity mode.

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3 weeks 3 days ago - 3 weeks 3 days ago #29535149 by Athanasios
try sending the command in object 0x2002

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3 weeks 3 days ago #29535150 by lelongg
Ok, I tried using object 0x2000sub2 and I can now set the motor position. However I'm now incompatible with other controllers, do you know what would be the issue with the DS402 profile position mode on the FBL2360T ?

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3 weeks 2 days ago #29535154 by Athanasios
Can you please explain in more detail what you mean that you are incompatible with other controllers? 
The mode you are using is manufactured specific. So it is incompatible with other controllers ether way.
Also why don't you use a DS402 mode if you need compatibility with other controllers?

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3 weeks 2 days ago #29535157 by lelongg
According to the documentation, Closed loop position relative mode can be used as a standard DS402 profile position mode, so once the mode is set and saved into the controller it shouldn't be different from any other DS402 profile position mode right ?
I'm using this specific mode since the documentation states that's it's the perfect mode for my requirements (driving a steering column).

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3 weeks 2 days ago #29535158 by Athanasios
Well it is not exactly like this.
The DS402 defines the modes from 0 to 11 how to operate, and defines the modes from 0 to -128 are manufacturer-specific operation modes.
This means that each manufacturer uses something else in -4. And by changing the drive with another manufacturer you can't expect the same behavior.
For example an other manufacturer might have a torque mode in -4 or he may not have an extra mode as in the case of roboteq controllers.
So -4 with this behavior is only in Roboteq controllers.

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3 weeks 2 days ago #29535159 by lelongg
I understand this but I'm not setting the operating mode through CAN but directly in Roborun so as long as every controller I use defaults to profile position mode at startup I don't care about what is the exact index of the current mode.

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3 weeks 9 minutes ago #29535164 by Athanasios
Sorry but I cannot understandwhat you mean and what you want to do.
The default value for object0x6060 which is the mode of operation, is manufacturer specific according to
the DS402 standard. So, every manufacturer uses whatever he likes.
If other manufacturers areusing the profile position mode, then you should use the count position mode as
it is the mode used for profile position mode of DS402. Even if you set from
roborun+ use the count position mode.

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