Reddy Update - Revision history

Dominic Létourneau: /* Useful Examples Using Direct CAN Commands */

2009-11-30T15:20:50Z

Useful Examples Using Direct CAN Commands

← Older revision		Revision as of 15:20, 30 November 2009
Line 488:		Line 488:

	=== Emergency STOP for all motor controllers ===		=== Emergency STOP for all motor controllers ===

			'''This will stop all motors with a single CAN command. This will stop controllers and kill power to the motor.'''

	{\| class="wikitable" width="100%" align="center" border="1"		{\| class="wikitable" width="100%" align="center" border="1"
	\|+ Send Emergency STOP (E-STOP), RS-232 Data Format (16 bytes total) (part 1)		\|+ Send Emergency STOP (E-STOP), RS-232 Data Format (16 bytes total) (part 1)

2009-11-30T15:18:27Z

Direct Servo Motor CAN Commands

← Older revision		Revision as of 15:18, 30 November 2009
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	* 0x27 = Servo controller		* 0x27 = Servo controller
	\|		\|
	* '''CAN_MSG_DATA[0] = Servo ID'''		* '''CAN_MSG_DATA[0] = Servo ID (See list below)'''
	* '''CAN_MSG_DATA[1] = SetPoint LSB'''		* '''CAN_MSG_DATA[1] = SetPoint LSB'''
	* '''CAN_MSG_DATA[2] = SetPoint MSB'''		* '''CAN_MSG_DATA[2] = SetPoint MSB'''

2009-11-30T15:17:48Z

Direct Servo Motor CAN Commands

2009-11-30T15:16:37Z

Direct Servo Motor CAN Commands

2009-11-30T15:05:48Z

Direct Servo Motor CAN Commands

2009-11-30T15:05:06Z

Emergency STOP for all motor controllers

@@ Line 511: / Line 511: @@
+|
 * bit 0-3 = 0 (length = 0)
-* '''bit 4 = RTR = 0'''
+* bit 4 = RTR = 0
 * bit 5 =1 (not used)
 * bit 6 =1 (not used)
@@ Line 534: / Line 534: @@
 * No data.
 |}
 === Direct Servo Motor CAN Commands ===

2009-11-30T15:02:16Z

Emergency STOP for all motor controllers

2009-11-30T15:01:32Z

Emergency STOP for all motor controllers

← Older revision		Revision as of 15:01, 30 November 2009
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	* CAN_MSG_PRI_MSB_CMD=0		* CAN_MSG_PRI_MSB_CMD=0
	\|		\|
	* ~~CAN_TYPE_ACTUATOR_HIGH_PRIORITY~~=~~0x02~~		* CAN_TYPE_EMERGENCY=0x01
	\|		\|
	* bit 0-3 = 4		* bit 0-3 = 4
Line 528:		Line 528:
	\|-		\|-
	\|		\|
	* '''~~CAN_EMERGENCY_STOP~~=~~0x30~~'''		* '''CAN_EMERGENCY_CMD_STOP=0x01'''
	\|		\|
	* 0xFF = Broadcast		* 0xFF = Broadcast

2009-11-30T14:59:31Z

Direct Servo Motor CAN Commands

← Older revision		Revision as of 14:59, 30 November 2009
Line 486:		Line 486:

	== Useful Examples Using Direct CAN Commands ==		== Useful Examples Using Direct CAN Commands ==

			=== Emergency STOP for all motor controllers ===
			{\| class="wikitable" width="100%" align="center" border="1"
			\|+ Send Emergency STOP (E-STOP), RS-232 Data Format (16 bytes total) (part 1)
			\|-
			\|'''HEADER'''
			\|'''CAN_MSG_PRI_MSB_CMD'''
			\|'''CAN_MSG_TYPE'''
			\|'''CAN_MSG_BOOT_RTR_LENGTH'''
			\|-
			\|(3 bytes)
			\|(1 byte)
			\|(1 byte)
			\|(1 byte)
			\|-
			\|
			* header[0] = 'c'
			* header[1] = 'a'
			* header[2] = 'n'
			\|
			* CAN_MSG_PRI_MSB_CMD=0
			\|
			* CAN_TYPE_ACTUATOR_HIGH_PRIORITY=0x02
			\|
			* bit 0-3 = 4
			* '''bit 4 = RTR = 0'''
			* bit 5 =1 (not used)
			* bit 6 =1 (not used)
			\|}

			{\| class="wikitable" width="100%" align="center" border="1"
			\|+ Send Emergency STOP (E-STOP), RS-232 Data Format (16 bytes total) (part 2)
			\|-
			\|'''CAN_MSG_CMD'''
			\|'''CAN_MSG_DEST'''
			\|'''CAN_MSG_DATA'''
			\|-
			\|(1 byte)
			\|(1 byte)
			\|(8 bytes)
			\|-
			\|
			* '''CAN_EMERGENCY_STOP=0x30'''
			\|
			* 0xFF = Broadcast
			\|
			* No data.
			\|}

	=== Direct Servo Motor CAN Commands ===		=== Direct Servo Motor CAN Commands ===

2009-11-02T15:22:53Z

Documents

← Older revision		Revision as of 15:22, 2 November 2009
Line 77:		Line 77:

	'''Reddy Updated Documentation'''		'''Reddy Updated Documentation'''
	*[[ReddySerialSoft.rar]]		*[[File:ReddySerialSoft.rar]]

	'''Other Documents'''		'''Other Documents'''