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Topic-icon Open Loop mode with CANOpen interface?

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3 years 6 months ago #29532092 by madsci1016
I'd like to avoid a script if possible, but I don't see a way to command open loop mode over CANOpen commands. The object dictionary does not have an equivalent 'G' command. There's a note on 'S' command (which is in the dictionary) "In systems without speed sensors, the velocity parameter will be relative to the Max RPM configuration parameter."

But I've tried configuring the motor in 'Closed Loop Position Relative' mode and issuing an 'S' command with no encoder configured. A ?CIS command shows no command is being applied however.

1) Is there a native CANOpen way to use Open loop mode? (issuing power levels)
2) How do you configure the controller to turn 'S' commands into power commands when no encoder is present?

Thanks.

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3 years 6 months ago #29532093 by blake
Hello, this is an error in the object dictionary in our documentation. Please refer to the below errata:

0x2000 1 Set Motor Command, ch1 S32 CG CANGO
2 Set Motor Command, ch2
0x2002 1 Set Velocity, ch1 S32 S
2 Set Velocity, ch2
0x2121 0 Read Magsensor Gyroscope S16 MGY MGYRO
0x2122 0 Read Motor Status Flags U32 FM MOTFLAG
0x2123 1 Read Hall Sensor States, ch1 U8 HS HSENSE

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3 years 6 months ago #29532094 by madsci1016
Ok, so you are saying the object dictionary at address 0x2000 is equivalent to a 'G' serial command? Sub index 1 is channel 1, sub index 2 is channel 2? And it is a 32bit value at that address?

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3 years 6 months ago - 3 years 6 months ago #29532095 by blake
Yes you are correct. Sorry the formatting got a bit messed up it looks like when I submitted the post let me try again:


INDEX: /SUB: /ENTRY NAME: /DATA TYPE: /COMMAND REFERENCE:
0x2000 /01 /Set Motor Command, ch1 /S32 /CG CANGO
/02 /Set Motor Command, ch2

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