MDCO Module

MDCO Module#

The MDCO module stands for Motor Drive CANopen and mainly hosts the MDCO class, which represents physical MDCO drivers using the CANopen communication layer instead of CAN-FD.

The CANdle now supports communication with drivers through the CANopen protocol.
This feature enables simpler and standardized integration into industrial or robotic systems that use CANopen as their primary protocol.

It can be included in your project via the header file:

#include "MDCO.hpp"

Installation#

Before using MDCO module you should migrate the motor driver in CANopen, cf: https://mabrobotics.github.io/MD80-x-CANdle-Documentation/md_canopen/TransitionProcedure.html. If you want to use candle features don’t forget to update your candle with the latest version available.

Main Features#

  • CANopen compatibility: Supports the CiA 301 standard communication profile.

  • SDO/PDO exchanges: Read and write driver object dictionary entries.

  • Node detection and management: Automatic identification of devices on the CAN bus.

  • Synchronization: Use of SYNC frames to align real-time communication.

  • NMT state management: Transition between Pre-operational, Operational, and Stopped modes.

  • EMCY management: Handling of emergency messages.

  • TIME-STAMP management: Handling of messages containing the TIME_OF_DAY object (cf. CiA 301).

  • Heartbeat management: Handling of heartbeat messages.

Speed loop#

This example shows how to run the motor using only SDO expedited transfers.

You must first configure the registers (Max current, Max torque, etc.). Once the registers are set, you can create a loop to run your motor at the desired speed.

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