OR Communication CANOpen cRIO-9022 (9853 CAN module) and EPOS2 MAXON

Hi all

I am implementing a control loop of speed on my motor Maxon EPOS2 controller, using the AOP, sent through my real time controller (OR cRIO-9022) with a DRUM module (9853).

I set up the mapping of the PDO in the dictionary of the object of the EPOS2, so that each new RxPDO1 contains the new speed desired highlighted, and I try to use the simple example in the standard Canadian example directory criocanopenbaisc (downloadable for free here http://zone.ni.com/devzone/cda/epd/p/id/5474).

Can I change manually in the object dictionary the value of the desired speed using the studio tool EPOS by logging in through the port USB the EPOS2 to my computer, but when I connect the EPOS2 to the port of cRIO CAN0 values recently sent has no effect.

To try first the .vi file hung on the AOP read command, which is just after the AOP command write. I guess that means that no real PDO is sent via the CAN bus. However, I have excluded the diagram of the PDO 'read', now the file runs and ends but no command is sent to the EPIC. I can check with an oscilloscope that many similar digital waveforms are sent, as if no ACK signal has been received.

After several attempts, I sent AOP structured in the following way:

 

COB - ID (4 bytes containing the COB - ID for RxPDO1 U32 representation: 531)

Updated value (4 bytes containing the representation of the value of the desired speed, U32).

0 in U32

0 in U32.

The last two U32 are then sent to be consistent with the example of the nicanopenbasic of library OR.

For the moment, a signal is sent (no more repetitive signals representative communication fault), but the values are not updated in the EPOS2...

See you soon

Double post

Tags: NI Hardware

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