USBtoCAN for MIT robot dog motors

Product Code: 2588001
Availability: 1000

Price: $45.63
Ex Tax: $45.63

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Description

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
Content	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: 0

3. Package

Tags: USBtoCAN for MIT robot dog motors