Hi,
I’m trying to communicate with my motor using Advanced motion controls’ DZCANTE-040L080 digital servo drive via CANopen communication protocol. I read/write CAN information using Microchip CAN Bus Analyzer.
Problem: I’m able to run the motor in forward/clockwise direction, but I’m unable to run the motor in backward/anticlockwise direction.
Hardware Setup:
CAN Bus Analyzer -> DZCANTE-040L080 motor drive -> Motor.
CAN communication execution steps:
Format | COB ID | DLC | Data0 | Data1 | Data2 | Data3 | Data4 | Data5 | Data6 | Data7 |
HEX | 00 | 2 | 80 | 01 |
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HEX | 601 | 8 | 22 | 15 | 14 | 01 | 81 | 01 | 00 | 00 |
HEX | 601 | 8 | 22 | 15 | 14 | 02 | FE | 00 | 00 | 00 |
HEX | 00 | 2 | 01 | 01 |
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HEX | 181 | 4 | 06 | 00 | 00 | 00 |
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HEX | 181 | 4 | 07 | 00 | 00 | 00 |
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HEX | 181 | 4 | 0F | 1B | FF | 00 |
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HEX | 181 | 4 | 0F | 20 | 00 | 00 |
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Step1: Sending NMT message to Node 1; Host commands Node 1 to Pre-Operational State.
Step2: Writing COB-ID 181 to 22ndRPDO (Target Velocity) (1415.01h).
Step3: Setting trigger mechanism of 22ndRPDO (1415.02h) to respond immediately upon receipt of data.
Step4: Sending NMT message to Node 1; Host commands Node 1 to Operational state.
Step5: Using 22ndRPDO to set the drive to Shutdown control state.
Step6: Using 22ndRPDO to set the drive to Operation Disabled control state.
Step7: Using 22ndRPDO to set the drive to Operation Enabled control state and sending data bytes to run the motor in forward/clockwise direction.
Step8: Setting positive stop/torque inhibit (200Fh) to stop forward rotation of the motor.
I need CAN communication message/byte sequence to move the motor in anticlockwise/backward direction. (What data sequence is required to set the motor to direction of rotation: backward/anticlockwise??). This would be of great help if someone kindly help me with this problem. Thankyou.