Data Sheet

10 Advanced Digital Motor Controllers User Manual V1.8, August 28, 2017
Realtime Queries ................................................................................... 169
Remote Queries restrictions .................................................................. 169
Configurations Read/Writes ................................................................... 170
Remote Configurations Read restrictions .............................................. 170
Remote Maintenance Commands ......................................................... 170
Self Addressed Commands and Queries ............................................... 171
RoboCAN via MicroBasic Scripting ........................................................ 171
Sending Commands and Configuration ................................................. 171
Reading Operating values Configurations .............................................. 172
Continuous Scan .................................................................................... 173
Checking the presence of a Node .......................................................... 175
Self Addressed Commands and Queries ............................................... 175
Broadcast Command ............................................................................. 175
Remote MicroBasic Script Download .................................................... 175
SECTION 17
CANopen Interface ................................................................................................ 177
Use and benefits of CANopen ............................................................... 177
CAN Connection .................................................................................... 177
CAN Bus Configuration .......................................................................... 178
Node ID .................................................................................................. 178
Bit Rate .................................................................................................. 178
Heartbeat ............................................................................................... 178
Autostart ................................................................................................ 178
Commands Accessible via CANopen ..................................................... 179
CANopen Message Types ...................................................................... 179
Service Data Object (SDO) Read/Write Messages ................................ 179
Transmit Process Data Object (TPDO) Messages ................................. 179
Receive Process Data Object (RPDO) Messages .................................. 180
SDO Construction Details ...................................................................... 183
SDO Example 1: Set Encoder Counter 2 (C) of node 1 value 10 ........... 184
SDO Example 2: Activate emergency shutdown (EX) for node 12 ........ 184
SDO Example 3: Read Battery Volts (V) of node 1. ................................ 185
SECTION 18
MicroBasic Scripting .............................................................................................. 187
Script Structure and Possibilities ............................................................ 187
Source Program and Bytecodes ............................................................ 188
Variables Types and Storage ................................................................... 188
Variable content after Reset ................................................................... 188
Controller Hardware Read and Write Functions ..................................... 188
Timers and Wait ..................................................................................... 189
Execution Time Slot and Execution Speed ............................................. 189
Protections ............................................................................................. 189
Print Command Restrictions .................................................................. 189
Editing, Building, Simulating and Executing Scripts ............................... 190
Editing Scripts ........................................................................................ 190
Building Scripts ...................................................................................... 190
Simulating Scripts .................................................................................. 190
Downloading MicroBasic Scripts to the controller ................................. 191