Hello,
Your post requires several answer.
First of all, I can only speak for the single channel (the red one) as I did not test the other.
Yes, it is CANOpen ready, however, it is not activated by default: you have to sold two jumper on the board of the KYDBL 2430-1E ( I don’t know for the other.)
There is a software to configure the Jinan Keya devices, but it is not directly available on their web site: you have to ask for it.
There is an EDS file, but you also have to ask for it.
It seems that the KYDBL 2430-1E has some issue with high bandwidth CAN operation: at the time being, I’m using it at 125 kbps.
I’m trying to use ros_canopen, but did not test yet: the doc is a bit light. I’m working on it and will update that post soon.
Also, I am trying to do the same application with other motors and I was wondering, do you have to configure canopen_master first? what’s the difference between canopen_master, canopen_chain_mode and canopen_motor_node? I have taken a look to the documentation but I still don’t get it. Thanks!!
According to my understanding, canopen_motor_node is sufficient to control a motor. My configuration files are in https://github.com/gribot-robotics/gribot_ros. However, I put the configuration on old for the time being and commented the canopen_motor_node in the configuration as I had other issues to solve first. As soon as I will have a working canopen configuration I’ll update this post with it.
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wow, thx alot for this post.
i’m in the process of purchasing dual channel controller, 30A from jinan keya to handle 2 BLDC motor. that blue one.
it is said already support CANopen. after reading your post, i can go with this with confident.
just wondering how ROS talk to this controller? create node or topic for each command?
Hello,
Your post requires several answer.
First of all, I can only speak for the single channel (the red one) as I did not test the other.
Yes, it is CANOpen ready, however, it is not activated by default: you have to sold two jumper on the board of the KYDBL 2430-1E ( I don’t know for the other.)
There is a software to configure the Jinan Keya devices, but it is not directly available on their web site: you have to ask for it.
There is an EDS file, but you also have to ask for it.
It seems that the KYDBL 2430-1E has some issue with high bandwidth CAN operation: at the time being, I’m using it at 125 kbps.
I’m trying to use ros_canopen, but did not test yet: the doc is a bit light. I’m working on it and will update that post soon.
Hey thanks for the post, so useful!
Also, I am trying to do the same application with other motors and I was wondering, do you have to configure canopen_master first? what’s the difference between canopen_master, canopen_chain_mode and canopen_motor_node? I have taken a look to the documentation but I still don’t get it. Thanks!!
Hello Felipe,
According to my understanding, canopen_motor_node is sufficient to control a motor. My configuration files are in https://github.com/gribot-robotics/gribot_ros. However, I put the configuration on old for the time being and commented the canopen_motor_node in the configuration as I had other issues to solve first. As soon as I will have a working canopen configuration I’ll update this post with it.
Thank you very much, I will check it out, also if I can develop something functional I will let you know!