USBtoCAN for MIT robot dog motors

USBtoCAN for MIT robot dog motors
Product Code: 2588001
Availability: 1000
Price: $45.63
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2588001 USBtoCAN for MIT robot dog motors

1. Driver CAN command

Send CAN command to driver to control the motor position, speed, and current. 

Special CAN command

1 Enter motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC}

2 Exit motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD}

3 Set current position as zero position {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE}

Identifier: 0x00  Standard Frame   Frame Format: DATA   DLC: 8 bytes

  DATA[0] DATA[1] DATA[2] DATA[3] DATA[4] DATA[5] DATA[6] DATA[7]
Data bit 7-0 7-0 7-0 7-0 7-4 3-0 7-0 7-4 3-0 7-0
Content high 8 bits low 8 bits high 8 bits low 4 bits high 4 bits low 8 bits high 8 bits low 4 bits high 4 bits low 4 bits
Motor position Motor speed KP KD torque
Value -95.5 to 95.5 rad -30 to 30 rad/s     -18 to 18 Nm

Motor CAN feedback

Identifier: 0x00 + Driver ID Standard Frame   Frame Format: DATA   DLC: 8 bytes

  DATA[0] DATA[1] DATA[2] DATA[3] DATA[4] DATA[5]
Data bit 7-0 7-0 7-0 7-0 7-4 3-0 7-0
Content  8 bits high 8 bits low 8 bits High 8 bits low 4 bits high 4 bits low 8 bits
Driver ID Motor position Motor speed Motor torque
Value   -95.5 to 95.5 rad -30 to 30 rad/s -18 to 18 Nm

2. Program

There is a program which can running together with the USBtoCAN. It simplifies the use of CAN command. 

For example, you just input following data to run the motor 1 turn without load. After you input these data, please click send parameter to run the command. 

Position: 6.28

Velocity: 0.0

kp: 15.0

kd: 0.2

torque:

3. Package

 

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