Schematic

Advanced Digital Motor Controllers User Manual 9
SECTION 14
Serial (RS232/USB) Operation .............................................................................. 149
Use and benefits of Serial Communication ........................................... 149
Serial Port Configuration ........................................................................ 150
Connector RS232 Pin Assignment ......................................................... 150
Setting Different Bit Rates ..................................................................... 150
Cable configuration ................................................................................ 151
Extending the RS232 Cable ................................................................... 151
Connecting to Arduino and other TTL Serial Microcomputers ............... 152
USB Configuration ................................................................................. 153
Command Priorities ............................................................................... 154
USB vs. Serial Communication Arbitration ............................................. 154
CAN Commands .................................................................................... 154
Script-generated Commands ................................................................. 154
Communication Protocol Description .................................................... 154
Character Echo ....................................................................................... 155
Command Acknowledgment ................................................................. 155
Command Error ..................................................................................... 155
Watchdog time-out ................................................................................ 155
Controller Present Check ....................................................................... 155
SECTION 15
CAN Networking on Roboteq Controllers ........................................................... 157
Supported CAN Modes .......................................................................... 157
Connecting to CAN bus ......................................................................... 158
Introduction to CAN Hardware signaling ................................................ 159
CAN Bus Pinout ..................................................................................... 159
CAN and USB Limitations ...................................................................... 160
Basic Setup and Troubleshooting ........................................................... 160
Cable polarity, integrity and termination resistor ................................... 161
Check CANbus activity using a voltmeter .............................................. 161
Check CANbus activity using a CAN sniffer ........................................... 161
Mode Selection and Configuration ........................................................ 161
Common Configurations ........................................................................ 162
MiniCAN Configurations ........................................................................ 162
RawCAN Configurations ........................................................................ 162
Using RawCAN Mode ............................................................................ 162
Checking Received Frames .................................................................... 162
Reading Raw Received Frames ............................................................. 163
Transmitting Raw Frames ....................................................................... 163
Using MiniCAN Mode ............................................................................ 164
Transmitting Data ................................................................................... 164
Receiving Data ....................................................................................... 164
MiniCAN Usage Example ...................................................................... 165
SECTION 16
RoboCAN Networking ............................................................................ 167
Network Operation ................................................................................ 168
RoboCAN via Serial & USB .................................................................... 168
Runtime Commands .............................................................................. 168
Broadcast Command ............................................................................. 168