Data Sheet

Commands Reference

360 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017

Description:

Enables CAN and selects the CAN protocol

Syntax Serial: ^CEN nn

~CNOD

Syntax Scripting: setconﬁg(_CEN, nn)

Number of Arguments: 1

Argument 1: Mode

Type: Unsigned 8-bit

Min: 0 Max: 5

Where:

nn =

0: Disabled

1: CANOpen

2: MiniCAN

3: RawCAN

4: RoboCAN

5: MiniJ1939

CHB - CAN Heartbeat

HexCode: 59

Description:

Sets the rate in miliseconds at which the controller will send a heartbeat frame on the

CAN bus. Heartbeat is sent when either MiniCAN, RawCAN, CANOpen are selected. A

dedicated, non-user-alterable Heartbeat frame is sent when RoboCAN is selected

Syntax Serial: ^CHB nn

Syntax Scripting: setconﬁg(_CHB, nn)

Number of Arguments: 1

Argument 1: HeartBeat

Type: Unsigned 16-bit

Min: 0 Max: 65536

Default: 100ms

Where:

nn = Heartbeat rate in ms

CLSN - CAN Listening Node

HexCode: 5B