I am trying to control a MAXON EPOS 4 BLDC drive using a single board Rio and the embedded CAN for RIO library. I think I am close, but I am not quite sure whether my formatting of the data payloads is correct.
Sending a simple PDO message like Reset (x81 followed by the node address) seems to work fine, however I am not sure whether I am successfully sending more complex messages as PDOs or whether I need to implement this using CANopen SDO objects.
The MAXON device programming document seems to outline the minimum amount of commands I need to command rotation.
https://www.maxonmotor.com/medias/sys_master/root/8830265196574/EPOS-Application-Note-Device-Program...
Do my payloads need to be formatted as follows:
COBID, special byte, Index low byte, Index high byte, Sub-index, data
So for example, to set the operation mode, the payload might be;
x06 01 23 (special byte), 60 60 00 01 (Profile position mode)
Does the identifier need to be set to anything? I have just set it to zero when sending the reset command.
If I follow this methodology for formatting the payloads and send the controller all of the commands in one of the device programming examples, will I be able to command some kind of motion?