Menu

Topic-icon Connecting Two SDC2130 With RoboCAN Sanity Check

More
3 years 7 months ago - 3 years 7 months ago #29531980 by operator
This is a sanity check to ensure a proper configuration.

I would like to control four(4) brushed DC motors drawing a maximum of 5 Amps each.
The plan is to connect two(2) SDC2130 controllers on a CAN bus using RoboCAN.

The first SDC2130 will have a Node ID of 1, will serve as master, and will have a Spektrum SP9545 Satellite Receiver connected to P4.
The second SDC2130 will have a Node ID of 2 and will serve as slave.

Pins 6 (CANL) and 7 (CANH) of the 15 pin D-Sub header J2 of Node 1 will be connected to the same pins (no crossover) of Node 2 using 20AWG or greater shielded twisted-pair or appropriate CAN bus wiring.
A single 120 Ohm, 0.5W resistor will be connected in parallel across the CAN-Low and CAN-High connections (pins 6 and 7) between the two SDC2130 controllers.

A Mode 2 Spektrum DX6i transmitter will be paired with the SP9545 Satellite Receiver connected to Node 1.
The left gimbal will control the two motors connected to Node 1 in a tank-drive configuration.
The right gimbal will control the two motors connected to Node 2 which serve auxiliary functions.

Is there anything obviously incorrect with this configuration or anything missing?

I have seen the example of a similar configuration here .
My application would seem to be a somewhat simplified version of this.
What sort of MicroBasic, if any, would need to be running on Node 1 and/or Node 2 to approximate the functionality I have described?

Thank you in advance for your thoughts, suggestions and assistance!

Please Log in or Create an account to join the conversation.

More
3 years 7 months ago #29531981 by blake
From your description I don't see anything missing or obviously incorrect. I'm sure you've already read it but just for reference the RoboCAN blog post on our website will be your best source in assuring your configuration is correct.

Since you are using a simplified setup to the Mecanum Wheel bot you referenced, I think the sample script on that page will be a good starting point for you. Simplify as needed if you are not using mecanum wheels. For your reference mixed or "tank" mode is detailed in our user manual on page 75. The Microbasic script for initiating this drive mode is MXMD (page user manual 214).

Please Log in or Create an account to join the conversation.

Moderators: tonysantoni
Time to create page: 0.098 seconds
Go to top