In this article, we will describe the process for verifying the operation of the CAN transceiver on a Roboteq device. The necessary equipment includes a laptop and a CAN sniffer, which will be connected to the CAN port to check for any incoming CAN traffic.
The CAN Sniffer we will be using is from the PCAN Sniffer brand.
The PCAN Viewer software can be downloaded from here.
Make sure to download also the required PCAN drivers from here.
Hardware Connections
The CANH and CANL pins of the CAN sniffer need to be connected to the CANH and CANL pins of the device being tested. A 120 Ohm resistor should be placed between CANH and CANL to terminate the bus and prevent signal reflections, ensuring reliable communication.
Consult each motor drive's datasheet for the specific Pinout.
Software Configurations and Testing
→ At the Roborun+ Utility, set up the following:
- Can Mode: CANOpen
- Bit Rate: 250
- Heartbit (ms): 200
- CANOpen Autostart: Enabled
→ Then save to device:
→ On the PCAN software, configure the Bit Rate to 250.
→ Then Navigate to the Receive/Transmit tab.
With the heartbeat function activated on the Roboteq drive, you should observe the heartbeat frames being transmitted over the bus.
- The CAN ID should be 701h (which is 700 plus the node ID of the drive, defaulting to 1)
- The cycle time should be 200 ms (this is the heartbeat set rate)
Receiving the heartbeat indicates that the CAN transceiver is functioning and the Roboteq device can operate on a CANbus Network!