Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-21 23:44:48 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Move CANopen heartbeat message

Browse Source
This commit is contained in:
Paul Guenette
2019-05-25 14:54:13 +02:00
parent 1e40897c2a
commit 263b209e20
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/can-protocol.md
+1 -1
View File
@@ -35,7 +35,6 @@ Be careful that you don't assign too many nodeIDs per PDO group. Four CAN Simpl
CMD ID | Name | Sender | Signals | Start byte
--: | :-- | :-- | :-- | :--
0x000 | CANOpen NMT Message\*\* | Master | - | - | -
0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | -
0x001 | ODrive Heartbeat Message | Axis | Axis Error<br>Axis Current State | 0<br>4
0x002 | ODrive Estop Message | Master | - | - | -
0x003 | Get Motor Error\* | Axis | Motor Error | 0
@@ -59,6 +58,7 @@ CMD ID | Name | Sender | Signals | Start byte
0x015 | Get Sensorless Estimates\* | Master | Sensorless Pos Estimate<br>Sensorless Vel Estimate | 0<br>4
0x016 | Reboot ODrive | Master\*\*\* | |
0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0
0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | -
\* Note: These messages are call & response. The Master node sends a message with the RTR bit set, and the axis responds with the same ID and specified payload.
\*\* Note: These CANOpen messages are reserved to avoid bus collisions with CANOpen devices. They are not used by CAN Simple.