Hello there, I am trying to make a master for 2 slave drive controllers from nanotec using Seeed Bus shield v2, the drives of nanotec are the CL-4-e series and they communicate via can open. Does anyone have experience trying to make canopen communication with seeed bus shield or do i need another board,
These are the motor drives that i have https://en.nanotec.com/fileadmin/files/Handbuecher/Kurzanleitungen/EN/cl4e-canopen-usb-modbus-rtu-quick-guide.pdf?1656012586
And this is the bus shield : https://www.seeedstudio.com/CAN-BUS-Shield-V2.html
At the moment im trying to setup the communication as it is said in the manual of nanotec but the bytes that i am getting back are not the ones that i should be getting:
This is the code as i have at the moment:
/*
* This is an example of sending and receiving (FD) on its own,
* connect two channels to each other using jumpers.
*/
#include <SPI.h>
#include "mcp2518fd_can.h"
// Set SPI CS Pin according to your hardware
// For Wio Terminal w/ MCP2518FD RPi Hat：
// Channel 0 SPI_CS Pin: BCM 8
// Channel 1 SPI_CS Pin: BCM 7
// Interupt Pin: BCM25
// *****************************************
// For Arduino MCP2515 Hat:
// SPI_CS Pin: D9
const int SPI_CS_PIN_SEND = 9;
const int SPI_CS_PIN_RECEIVE = 2;
mcp2518fd CAN_SEND(SPI_CS_PIN_SEND);
mcp2518fd CAN_RECEIVE(SPI_CS_PIN_RECEIVE);
// CANFD could carry data up to 64 bytes
#define MAX_DATA_SIZE 8
void setup() {
SERIAL_PORT_MONITOR.begin(115200);
while (!SERIAL_PORT_MONITOR) {} // wait for Serial
/*
* To compatible with MCP2515 API,
* default mode is CAN_CLASSIC_MODE
* Now set to CANFD mode.
*/
CAN_SEND.setMode(CAN_NORMAL_MODE);
CAN_RECEIVE.setMode(CAN_NORMAL_MODE);
if (CAN_SEND.begin(CAN_500K_1M) != 0 || CAN_RECEIVE.begin(CAN_500K_1M) != 0) {
SERIAL_PORT_MONITOR.println("CAN-BUS initiliased error!");
while (1);
}
byte send_mode = CAN_SEND.getMode();
byte receive_mode = CAN_RECEIVE.getMode();
SERIAL_PORT_MONITOR.print("CAN BUS Send Mode = "); SERIAL_PORT_MONITOR.println(send_mode);
SERIAL_PORT_MONITOR.print("CAN BUS Receive Mode = "); SERIAL_PORT_MONITOR.println(receive_mode);
SERIAL_PORT_MONITOR.println("CAN BUS Shield init ok!");
}
unsigned char stmp[MAX_DATA_SIZE] = {40, 41, 60, 00, 00, 00, 00, 00};
unsigned char len = 0;
unsigned char buf[MAX_DATA_SIZE];
void loop() {
// send data: id = 0x00, standrad frame, data len = 64, stmp: data buf
stmp[MAX_DATA_SIZE - 1] = stmp[MAX_DATA_SIZE - 1] + 1;
if (stmp[MAX_DATA_SIZE - 1] == 100) {
stmp[MAX_DATA_SIZE - 1] = 0;
stmp[MAX_DATA_SIZE - 2] = stmp[MAX_DATA_SIZE - 2] + 1;
if (stmp[MAX_DATA_SIZE - 2] == 100) {
stmp[MAX_DATA_SIZE - 2] = 0;
stmp[MAX_DATA_SIZE - 3] = stmp[MAX_DATA_SIZE - 3] + 1;
}
}
CAN_SEND.sendMsgBuf(0x6041, 0, CANFD::len2dlc(MAX_DATA_SIZE), stmp);
delay(100); // send data per 100ms
SERIAL_PORT_MONITOR.println("CAN BUS sendMsgBuf ok!");
// ---------------------
if (CAN_MSGAVAIL == CAN_RECEIVE.checkReceive()) {
// read data, len: data length, buf: data buf
SERIAL_PORT_MONITOR.println("checkReceive");
CAN_RECEIVE.readMsgBuf(&len, buf);
// print the data
for (int i = 0; i < len; i++) {
SERIAL_PORT_MONITOR.print(buf[i]);
SERIAL_PORT_MONITOR.print(' ');
}
SERIAL_PORT_MONITOR.println();
}
SERIAL_PORT_MONITOR.println("---LOOP END---");
delay(10000);
}
Any feedback is appriciated
