“What is the 90% cause of CANopen disconnection?”—— I asked a newcomer at the company“Is the driver broken?”—— The newcomer“No, it’s because your heartbeat has stopped.”—— Bald engineer CANopen disconnection is one of the most common, life-questioning, and easily blamed failures on site. But in reality: It is not the driver that is broken It … Read more
“SDO is responsible for telling the drive how to work, while PDO is responsible for keeping the drive working continuously.”—— Essence of understanding from a bald engineer If you have understood SDO, then congratulations, you are just one step away from “making the motor really move” — PDO. PDO is the soul of the entire … Read more
“Whenever you encounter ‘unable to write, unable to read, configuration unsuccessful’, it is mostly an SDO issue.”—— Bald Engineer, years of experience summarized In CANopen, anything related to configuration and parameters is closely tied to SDO: Change mode (0x6060) Change acceleration (0x6083) Configure PDO (0x1600 / 0x1A00) Set heartbeat time (0x1017) Modify node ID (0x2000~) … Read more
“When you first take on industrial equipment, the three letters CANopen feel like a threshold.”“In fact, it’s not that mysterious; it just needs someone to guide you in.”—— From the blood and tears of a bald engineer 🟧 1. Why Learn CANopen? If you are working on: AGVs, small vehicles, AMRs Robotic arms Motor drivers … Read more
Click the blue text above to follow us Preface: The Wonderful Use of the F1 Key●● When you are using PCAN-view, if you encounter an operation function that you are not quite clear about, such as what a certain key does, how should you check it? Quick Method: You just need to press the F1 … Read more
1. CANopen Motor Drive and Motion Control Sub-protocol DS-402 CANopen has developed relevant device sub-protocols DS-402 for motor drive and motion control devices, which standardizes the operation modes and parameters of servo drives, motion control cards, inverters, and other devices, greatly reducing development workload and improving device interconnectivity. From Figure 2-17, the CANopen control interface … Read more
In the previous section, we introduced the system structure of the robotic arm and configured the CANopen protocol stack’s PDO. This section will discuss the mapping process of the robotic arm’s position from Cartesian space to joint space description based on the improved D-H model. 3 Inverse Kinematics Solution of the Robotic Arm According to … Read more
In the previous two sections, we discussed the CANopen protocol stack PDO configuration for the robotic arm and established the spatial coordinate system and model of the robotic arm based on the improved D-H model. This section will simulate and test the robotic arm based on the above content and summarize the entire research. 4 … Read more
CANopen is a high-level communication protocol built on the Controller Area Network (CAN), including communication sub-protocols and device sub-protocols commonly used in embedded systems, and is a widely used fieldbus in industrial control. CANopen implements protocols above the network layer in the OSI model (including the network layer). The CANopen standard includes addressing schemes, several … Read more
5, CANopen Protocol Stack Communication Unit Implementation The communication unit in the CANopen protocol first classifies NMT, SDO, PDO, and synchronization messages based on the identifier. Then, different types of messages are processed by independent sub-modules. After the system is powered on and initialized, it enters the pre-operational state and sends a heartbeat message to … Read more