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CAN Networking on Roboteq Controllers

44

 

                 CANBus Networking Manual 

V2.0 July 8, 2019 

The standard describes all the required SDOs, as long as the actions the motor controller 
should  take upon receiving these SDOs. Additionally the standard describes a Finite State 
Machine (FSA) which should run on motor controller.

Implementation

The implementation has been directed under standard version 4.1.0.

Index Range & Channel Selection

All the SDOs described in DS402 standard range from index 0x600 - 0x67FF. However 
these are only for controlling one motor channel. For multi channel controllers the control-
ler should be able to accept index ranges for the other channels as well. These index rang-
es are shifted ranges of the abovementioned one as shown below:

• 

0x6000 - 0x67FF, for channel 1.

• 

0x6800 - 0x6FFF, for channel 2.

• 

0x7000 - 0x77FF, for channel 3.

There are Roboteq motor controllers with up to three channels available.

Modes of Operation

Roboteq Controllers support the following operation Modes:

A.  Open Loop
B.  Closed Loop Speed, controls Speed using Speed as feedback.
C.  Closed Loop Speed Position, controls Speed using Position as feedback.
D.  Closed Loop Count Position, controls Position.
E.  Closed Loop Position Relative, controls Position within specific boundaries.
F.  Closed Loop Position Tracking, controls Position within specific boundaries, with 

abrupt transition.

In order to conform the above operation modes to the operation modes described, the 
DS402 modes of operation supported by Roboteq are shown in Table 4-1 - Operation Table 1. 
Any other mode described in DS402 standard is not supported by Roboteq controllers.

TABLE 4-1. Operation Modes

Value

Definition

Roboteq Operation Mode

-4¹

Velocity Mode

Closed Loop Speed Position

-3

1

Profile Velocity Mode

Closed Loop Speed Position

-2

1

Profile Position Mode

Closed Loop Position Tracking Mode²

-1

1

Profile Position Mode

Closed Loop Position Relative Mode

2

0

No Mode

Open Loop Mode

1

Profile Position Mode

Closed Loop Count Position Mode

2

Velocity Mode

Closed Loop Speed Mode

3

Profile Velocity Mode

Closed Loop Speed Mode

4

Torque Profile Mode

Closed Loop torque Mode

¹Roboteq Specific Modes

2

Not all Profile Position features can be supported with this mode.

Содержание CANBus Series

Страница 1: ...1 CANBus CANOpen RawCAN MiniCAN RoboCAN User Reference Manual V2 0 July 8 2019 visit www roboteq com to download the latest revision of this manual Copyright 2016 2019 Roboteq Inc...

Страница 2: ...s July 8 2019 2 0 Extracted from main User Manual The information contained in this manual is believed to be accurate and reliable How ever it may contain errors that were not noticed at the time of p...

Страница 3: ...d Frames 12 Reading Raw Received Frames 13 Transmitting Raw Frames 13 Using MiniCAN Mode 14 Transmitting Data 14 Receiving Data 14 MiniCAN Usage Example 15 SECTION 2 RoboCAN Networking 17 Network Oper...

Страница 4: ...43 Abbreviations 43 Introduction 43 What is DS402 43 Implementation 44 Index Range Channel Selection 44 Modes of Operation 44 Supported SDOs 45 PDS FSA 45 SDO Description 47 0x6040 Control Word 47 0x6...

Страница 5: ...tery or and Motor Amps sensing Storage size of user variables to Flash or Battery backed RAM User Manual Structure and Use The user manual discusses issues that are common to all controllers inside a...

Страница 6: ...describes the configuration of the CANopen communication protocol and the commands accepted by the controller operating in the CANopen mode SECTION 4 DS402 Implementation on Roboteq Motor Controllers...

Страница 7: ...tly simplified subset of CANopen allowing within limits the integration of the controller into an existing CANopen network This mode requires MicroBasic script ing to prepare and use the CAN data CANo...

Страница 8: ...k communication will take place with a single resistor of 100 to 200 ohm located anywhere on the network Communication will not work if no resistor is present or if its value is too high No ground con...

Страница 9: ...1 1 1 Figure 1 2 CANbus signaling Differential signaling reduces noise coupling and allows for high signaling rates over twist ed pair cable The High Speed CANbus specifications ISO 11898 Standard are...

Страница 10: ...d USB Limitations On some controller models CAN and USB cannot operate at the same time On control lers equipped with a USB connector if simultaneous connection is not allowed the con troller will ena...

Страница 11: ...nu ous stream of data frames This will cause the CANH voltage to rise above and the CANL voltage to drop below the 2 5V midpoint If the idle and active voltages do not match the above try again on the...

Страница 12: ...or not by changing the Listen NodeID parameter that is shared with the MiniCAN mode A value of 0 will capture all incoming frames and it will be up to the user to use the ones wanted Any other value...

Страница 13: ...t than 0 then a new frame has arrived and you may read the data After reading the header its value will be 0 if read again unless a new frame has arrived New CAN frames will not be received by the con...

Страница 14: ...dRate configuration parameter Header TPDO1 0x180 NodeID TPDO2 0x280 NodeID TPDO3 0x380 NodeID TPDO4 0x480 NodeID Data Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 TPDO1 VAR1 VAR2 TPDO2 VAR3 VAR4 TP...

Страница 15: ...shown in the table above with the lowest Boolean Variable occupying the least significant bit of each byte Example a received byte of 0x01 will set Boolean Var 33 and clear Vars 34 to 40 MiniCAN Usag...

Страница 16: ...CAN Networking on Roboteq Controllers 16 CANBus Networking Manual V2 0 July 8 2019...

Страница 17: ...ational data from any other node on the network One or more controller can act as a USB to CAN or Serial to CAN gateway allowing several controllers to be thus managed from a single PC or mi crocomput...

Страница 18: ...e node as a 2 digit hex address a command or query is sent to the desired node This scheme works with every Command Character Query Configuration setting Configuration read and most Maintenance comman...

Страница 19: ...ng on the selected bit rate the reply may come up to 10ms after the query was sent Remote Queries restrictions Remote queries can only return a single value whereas local queries can be used to read a...

Страница 20: ...ite can be broadcast to all nodes simultaneously by using the node Id 00 For example 00 OVL 250 Will set the overvoltage limit of all nodes at 25 0 Volts Configuration reads cannot be broadcast See th...

Страница 21: ...ve been added to the MicroBasic language in order to easily send commands to and read data from any other node on the network Functions are also available to read and write configurations at a remote...

Страница 22: ...t step can be done using one of the 3 following ways 1 Pause script execution for a few milliseconds using a wait instruction in line 2 Perform other functions and read the results a number of loop cy...

Страница 23: ...r from a given node and make the value available for read ing without the need to send a Fetch command A function is provided to initiate the automatic sending of a value from the remote node at a spe...

Страница 24: ...then read with the function ReadScannedCANValue aa Where aa is the location in the scan buffer The function returns an integer value If no new value was received since the previous read the old value...

Страница 25: ...e value Self Addressed Commands and Queries Functions addressed to the local node have no effect The following function will not work if executed on node 4 SetCANCommand 04 _G 1 500 The regular functi...

Страница 26: ...RoboCAN Networking 26 CANBus Networking Manual V2 0 July 8 2019...

Страница 27: ...n be found in the DS402 documentation Use and benefits of CANopen CANopen protocol allows multiple controllers to be connected into an extensible unified network Its flexible configuration capabilitie...

Страница 28: ...n network device must have a unique Node ID between 1 and 127 The val ue of 0 is used for broadcast messaging and cannot be assigned to a network node Bit Rate The CAN bus supports bit rates ranging f...

Страница 29: ...pen specification Service Data Object SDO Read Write Messages Runtime queries and runtime commands can be sent to the controller in real time using the expedited SDO messages SDO messages provide gene...

Страница 30: ...ser VAR 3 0x2106 4 User VAR 4 TPDO3 0x2106 5 S32 User VAR 5 0x2106 6 User VAR 6 TPDO4 0x2106 7 S32 User VAR 7 0x2106 8 User VAR 8 S32 signed 32 bit word Receive Process Data Object RPDO Messages RPDOs...

Страница 31: ...ate but then it is necessary to avoid inconsistencies in the PDO mapping on the producer and the consumer side To avoid this the PDO must not be pro duced until the entire reconfiguration is finished...

Страница 32: ...3 00 18 01 81 01 00 40 PDOTransmissionType The transmission type of a PDO can be set via the second sub index 0 1 The Transmit PDO is synchronous Which specific SYNC Object occurrence triggers the tra...

Страница 33: ...ronous PDOs received by a node only become valid on arrival of the next Sync message In order that the bus is not blocked up by a large number of synchronous PDOs which are all sent with every Sync me...

Страница 34: ...top in all modes U8 WO Yes MS 0x200F 01 mm 1 Set Pos Relative S32 WO Yes PR 0x2010 01 mm 1 Set Next Pos Absolute S32 WO Yes PX 0x2011 01 mm 1 Set Next Pos Relative S32 WO Yes PRX 0x2012 01 mm 1 Set Ne...

Страница 35: ...T 0x2110 01 mm 1 Read Feedback S16 RO Yes F 0x2111 00 Read Status Flags U16 RO Yes FS 0x2112 00 Read Fault Flags U16 RO Yes FF 0x2113 00 Read Current Digital Outputs U16 RO Yes DO 0x2114 01 mm 1 Read...

Страница 36: ...unter S32 RO Yes CSS 0x213F 01 si 10 Read SSI Relative Counter S32 RO Yes CSR 0x2141 00 Read BMS State of Charge U8 RO Yes BMC 0x2142 00 Read BMS Status Flags U8 RO Yes BMF 0x2143 00 Read BMS Operatio...

Страница 37: ...00 Target Torque CH1 S16 RW Yes TC 0x6077 00 Torque Actual Value CH1 S16 RO Yes TRQ 0x607A 00 Target Position CH1 S32 RW Yes POS 0x6081 00 Profile Velocity CH1 U32 RW Yes PSP 0x6083 00 Profile Accele...

Страница 38: ...Demand CH3 S16 RO Yes RMP 0x7044 00 VL Velocity Actual Value CH3 S16 RO Yes F 0x6046 01 VL Velocity Min Amount CH3 U32 RW Yes SPL 02 VL Velocity Max Amount CH3 U32 RW Yes SPL 0x6048 01 Velocity Accele...

Страница 39: ...accessed subindex is the subindex of the object dictionary variable data contains the data to be uploaded The Response from the roboteq device is as shown below Header DLC Payload Byte0 Byte1 2 Byte...

Страница 40: ...2 since it is a command n 3 since only one byte of the data is used unsigned8 index 0x200C and subindex 0x00 according to object dictionary Header DLC Payload Byte0 Byte1 2 Byte 3 Bytes4 7 bits 4 7 b...

Страница 41: ...00 00 The respective response will be nd 1 since the source node id is 1 ccs 4 since it is a query response n 2 since 2 bytes of the data are used unsigned16 index 0x210D and subindex 0x02 according...

Страница 42: ...CANopen Interface 42 CANBus Networking Manual V2 0 July 8 2019...

Страница 43: ...de PV Profile Velocity Mode RO Read Only RW Read Write SDO Service Data Object TQ Torque Mode VL Velocity Mode Introduction This documentation will describe the implementation of CiA DS402 standard on...

Страница 44: ...Closed Loop Speed controls Speed using Speed as feedback C Closed Loop Speed Position controls Speed using Position as feedback D Closed Loop Count Position controls Position E Closed Loop Position R...

Страница 45: ...tion Display AOM 606400 Position actual value F 606C00 Velocity actual value F 607100 Target torque TC 607700 Torque actual value A 607A00 Target position POS 608100 Profile velocity PSP 608300 Profil...

Страница 46: ...finite state machine while Table 4 3 describes the actions and the events of the transitions FIGURE 4 2 Power Drive System Finite State Automation TABLE 4 3 Transition Events and Actions Transition Ev...

Страница 47: ...d The drive function shall be disabled 13 Fault Signal None 14 Automatic Transition The drive function shall be disabled 15 Fault Reset Command The drive function shall be enabled SDO Description 0x60...

Страница 48: ...n enabled Profile Position Mode TABLE 4 8 control word mapping in profile position mode 15 10 9 8 7 6 5 4 3 0 see Table 4 4 Change on set point Halt see Table 4 4 Abs rel Change Set Immediately New Se...

Страница 49: ...the bits that are independent to operation mode TABLE 4 12 Status Word Sub Index 00 Optional N Type U16 Access RO PDO T Value Range Discrete Default RoboCommand SW Description The status of the PDS F...

Страница 50: ...lt bit 8 in controlword 1 Axis decelerates 1 Halt bit 8 in controlword 0 Speed or Position Target reached Halt bit 8 in controlword 1 Velocity of axis is 0 Profile Position Mode TABLE 4 16 Status word...

Страница 51: ...n 0x6043 VL Velocity Demand Table 21 gives a short description of the object TABLE 4 21 Velocity Demand Sub Index 00 Optional N Type S16 Access RO PDO T Value Range Default RoboCommand RMP Description...

Страница 52: ...he configured minimum and maximum amount of velocity in RPM The vl velocity max amount sub object shall be mapped internally to the vl velocity max positive and vl velocity max negative values The vl...

Страница 53: ...on The requested operation mode 0x6061 Modes of Operation Display Table 4 27 gives a short description of the object and Table 1 shows the available modes TABLE 4 27 Modes of Operation Display Sub Ind...

Страница 54: ...31 Torque Actual Value Sub Index 00 Optional CND Type S16 Access RO PDO T Value Range Default RoboCommand TRQ Description This object shall provide the actual value of the torque in Nm 100 It shall co...

Страница 55: ...Access RW PDO R Value Range Default MAC 20000 RoboCommand PAC Description This object shall indicate the configured acceleration in RPM 10 second 0x6084 Profile Deceleration PP Table 4 35 gives a shor...

Страница 56: ...BLE 4 38 Supported Drive Modes Sub Index 00 Optional REQ Type U32 Access C PDO N Value Range Default 0x0000000F RoboCommand SDM Description The supported drive modes Roboteq Controllers support Profil...

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