CAN lidar 3D sensor- ROBOTEQ controller FBL2360A

1 year 2 weeks ago #29535195 by Esteban Falconi
Hi plase can you help me with some information: I want to implement a lidar 3d sensor (C30 A- Benewake) to an AGV controlled by an FBL2360 A roboteq controller this SENSOR is using only CAN protocol i want to Know if any of your CAN protocol (CAN OPEN-Raw CAN-MiniCAN-RoboCAN) can comunicate with the device that i want to use.

The message Format used by the sensor that i want to use is shown in the file attached
Attachments:

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1 year 2 weeks ago #29535197 by Athanasios
Hi Esteban,
With RawCAN you can communicate with can devices that use 11 bit Id. You need to use the script to implement the protocol though.
With miniCAN can recieve RPDOs and send TPDOs
The roboteq controller support CANopen slave. You can recieve RPDOs, send TPDOs and also respond to SDOs

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11 months 1 week ago #29535248 by Esteban Falconi
Hi thanks a lot for the information given, so considering using rawCan Frame the exchange of data should looks like this? :
Sending Information from the roboteq controller to the lidar sensor:
Sensor command for configuring width and depth of the area of sensing on the 3D lidar sensor
Input data:
width 70cm
depth 400 cm
3D lidar sensor ID: 2
3D lidar sensor data frame:
ID         Start command        spare               width depth           version inquiry
0x606           0xc1                   0x00               0x23            0x28            0x00
Roboteq controller -->3D lidar sensor 
!CS 2 1542
!CS 2 193
!CS 2 0
!CS 2 35
!CS 2 40
!CS 2 0
Receiving information from the lidar sensor to Roboteq controller:
Data received
Distance: 540 [mm]
Angle: 10°
Data frame format
      ID               Distance            Reserved          Angle            Reserved           State
0x586           
              0x00             
             0x00                   0/1
3D lidar sensor----> Roboteq controller
? CS 1:1414:3:5:7

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11 months 6 days ago #29535257 by Athanasios
Hi Esteban,
you are using !CS 2 all the time
the number should change as in manual
"
Examples: !CS 1 5 Enter 5 in header
!CS 3 2 Enter 2 in Data 0
!CS 4 3 Enter 3 in Data 1
!CS 2 2 Enter 2 in bytecount. Send CAN data frame
"

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11 months 2 days ago #29535268 by Esteban Falconi
Thank a lot for the information given so, you mean that in each section of the message i have to introduce a different number to select the :
Arbitration Field 
Control
Data
CRC field

Receiving information from the lidar sensor to Roboteq controller:
Data received
Distance: 540 [mm]
Angle: 10°
Data frame format
      ID     Distance   Reserved    Angle    Reserved      State
0x586        21c            0x00          a            0x00              0/1
3D lidar sensor----> Roboteq controller
? CS 1:1414:3:5:7

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