CAN ID protocol

[spacejpink]

I have just purchased the PD57-2-1060-TMCL stepper motor with CAN control. I have downloaded the firmware manual and the Hardware manual, but i can not seem to find how to communicate over CAN, your document is very comprehensive so maybe I am not looking close enough, in which case can you please direct me to the correct part of the manual? Otherwise some help in order to specif the CAN ID is required please.


I have purchased this in order to control a butterfly valve and provide feedback of its location. We normally run our devices over CAN in which case we need to align our protocols.

Thanks

Jodie

[Olav Kahlbaum (TRINAMIC)]

With factory default settings, the CAN ID of this module is 1 and it will send its replies via CAN ID 2. CAN bit rate is 1000kBit/s. All these settings can be changed, but for a first try I would not recommend changing the settings.
You can find the explanation how to send TMCL commands via CAN in the first half of chapter 3.1 of the TMCM-1060 TMCL firmware manual (not much, but it is as easy as that). You just send the TMCL command bytes via a 7 or 8 byte CAN telegram (it is not CANopen protocol - it is just sending TMCL commands via CAN bus).

So to run the motor using an ROL 0, 50000 command you will have to sent the following via CAN (with ID 1): 0x02 0x00 0x00 0x00 0x00 0xC3 0x50.