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CAN lidar 3D sensor- ROBOTEQ controller FBL2360A
- Esteban Falconi
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3 years 1 day ago #29535195
by Esteban Falconi
CAN lidar 3D sensor- ROBOTEQ controller FBL2360A was created 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
The message Format used by the sensor that i want to use is shown in the file attached
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3 years 1 day ago #29535197
by Athanasios
Replied by Athanasios on topic CAN lidar 3D sensor- ROBOTEQ controller FBL2360A
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
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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2 years 10 months ago #29535248
by Esteban Falconi
Replied by Esteban Falconi on topic CAN lidar 3D sensor- ROBOTEQ controller FBL2360A
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
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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2 years 10 months ago #29535257
by Athanasios
Replied by Athanasios on topic CAN lidar 3D sensor- ROBOTEQ controller FBL2360A
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
"
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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2 years 10 months ago #29535268
by Esteban Falconi
Replied by Esteban Falconi on topic CAN lidar 3D sensor- ROBOTEQ controller FBL2360A
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
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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