Cannot set velocity in the SBL2360

1 month 1 week ago #29535232 by tato_lx
Hello, we are using Roboteq SBL2360. 
I have a CAN interface for the driver. I can set Acceleration and Encoder Counter (addresses 0x2006 and 0x2003) but for some reason I cannot set the Motor Speed (address 0x2002). It returns an answer with a css value of 8 which means there is an error in the message received. I am in Cloed Loop Speed Mode
Any ideas? Thanks

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1 month 1 week ago #29535233 by Athanasios
Hi Tato,
are you using the sub index that is for the channel you are using? 
eg
for channel 1 it is 0x2002 01
for channel 2 it is 0x2002 02
if you still face problem can you please send me the hole message that you get as respond?

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1 month 1 week ago #29535238 by tato_lx
Yes I'm using Sub 02 in this case.
The reply I receive from the Roboteq when I try to set the velocity is:

StdID: 0x581
DLC: 8
Byte 0: 0x80
Byte 1: 0x02
Byte 2: 0x20
Byte 3: 0x02
Byte 4: 0x10
Byte 5: 0x00
Byte 6: 0x07
Byte 7: 0x06

Thanks

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1 month 1 week ago #29535239 by Athanasios
as i see you are not using the correct client command specifier (ccs) for the data type
the error you get is 
"Data type does not match, length of service parameter does not match"
the ccs for this object is 0x23
see below one example with wrong ccs 0x2f gets the response you also get
and the next one with the correct ccs is ok


Message Number
; | Time Offset (ms)
; | | Type
; | | | ID (hex)
; | | | | Data Length
; | | | | | Data Bytes (hex) ...
; | | | | | |
;---+-- ----+---- --+-- ----+--- + -+ -- -- -- -- -- -- --
1)               013.8 Rx 0601 8 2F 02 20 01 21 00 00 00
2)               014.6 Rx 0581 8 80 02 20 01 10 00 07 06
3) 45376.5 Rx 0601 8 23 02 20 01 21 00 00 00
4) 45377.1 Rx 0581 8 60 02 20 01 10 00 07 06

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1 month 6 days ago #29535240 by tato_lx
Hello!
It is still not working. 
Here is a pic with the responses:

The top part is a successful write to register 0x2006 and the response.
The bottom part is the unsuccessful attempt to write to 0x2002 and the response.

Thanks
Attachments:

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1 month 6 days ago #29535241 by Athanasios
Can you please send me the firmware you are using?
send by console ?fid 

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1 month 5 days ago #29535242 by tato_lx
Hello!
The Fimware ID is v2.01 SBL2xxxx 11/14/2019. Please see attachment.
Attachments:

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1 month 5 days ago #29535243 by Athanasios
please send me an email to @athanasios.baxevanos@mail.nidec.com with same title so I can send you a firmware with a fix for this.

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21 hours 44 minutes ago #29535286 by fabio.lisurici
Hi,
I have exactly the same problem, did you solve it?
I'm using SBL 2360, the version of my firmware is v2.01 SBL2XXX 11/14/2019. I'm using CANOpen to send commands to the driver in order to control a motor wired to the channel 1.
I send 23 02 20 01 32 00 00 00 to set velocity but I get in responce: 80 02 20 01 10 00 07 06
How can I sove the issue?
Why the byte0 for 0x2002 is 23?

Thank you

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19 hours 43 minutes ago #29535287 by tato_lx
Hello! The problem was the Firmware release. I was given new Firmware and it is fixed!

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