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47 lines
1012 B
47 lines
1012 B
CAN指令
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81 00 00 00 00 00 00 00 复位所有节点
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01 00 00 00 00 00 00 00 启动所有节点的远程控制
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步骤1（复位节点）和步骤2（启动节点）的帧ID是“0x0000”，其余的步骤的帧ID为SDO的地址0X0600+节点号
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2b 40 60 00 06 00 00 00 写控制字06H，状态机切换状态
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2b 40 60 00 07 00 00 00 写控制字07H，状态机切换状态
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2b 40 60 00 0f 00 00 00 写控制字0FH，状态机切换状态
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一、速度模式发以下指令
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2f 60 60 00 03 00 00 00 速度模式
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23 ff 60 00 A0 86 01 00 正转
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23 ff 60 00 60 79 FE FF 反转
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23 ff 60 00 00 00 00 00 停车
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二、位置模式发以下指令
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2f 60 60 00 01 00 00 00 位置模式
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23 81 60 00 A0 86 01 00 写速度
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23 7a 60 00 A0 86 01 00 正转10圈（5mm）
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23 7a 60 00 60 79 FE FF 反转10圈（5mm）
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23 7a 60 00 C0 D4 01 00 正转12圈（6mm）
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23 7a 60 00 40 2B FE FF 反转12圈（6mm）
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2b 40 60 00 4f 00 00 00 设置为相对运动模式
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2b 40 60 00 5f 00 00 00 电机开始运动
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