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Firmware Stable

Canopen

CANOpen

note

It is not possible to ship controller with CANOpen from the siliXcon factory, because the CANOpen protocol is in conflict with siliXcon service protocol. If the CANOpen protocol is enabled, siliXcon manufacturing tools are not working.

How to enable the CANOpen​

The CANOpen protocol is in conflict with siliXcon service protocol. To enable CANOpen, you need to disable the siliXcon service protocol. As a result, the emGUI, upgrade and other tools will not work over CAN bus. For configuring the controller, please use USB.

First upgrade the controller to a firmware with canopen support. Usually the firmware SWID ends with _canopen. Like VECTOR_ECHO_canopen.

Then disable the siliXcon service protocol, run command protoconf 3 0

Using parameter coadr, you can set the CANOpen address of the controller. The address must be in range 1-127. The default address is 1.

EDS file​

tip

If you can, use the XDD file, because more comments and descriptions are included.

Avaliable signal in the CANOpen​

  • Battery current and voltage
  • Motor phase current and voltage for Q and D axis
  • Controller Info: HWID, SWID, SN, UUID, signature

Avaliable commands in the CANOpen​

You can directly set the driver cmd and mode.