Commands

Commands#

CANdleTool CLI tree is build around each of devices provided by MAB. There it is split into actions that can be performed. Most of the commands are described below.

Note

Some commands are not listed in this document. You can explore all of the commands in the branch by issuing -h flag.

Global parameters#

**-h, --help** - Display help.

**-d, --datarate** - Sets a datarate of CAN network when using CANdle device.

**-v, --verbosity** - Sets printing verbosity of the CANdleTool. Supported values are 0,1,2,3.

**-s, --silent** - Turns off output of CANdletool logger.

**--version** - Prints a version of CANdleSDK used.

candle#

Update#

Updates firmware on the CANdle device using provided MAB firmware file.

md#

Branch of CLI dedicated for MD devices. Most of the commands use --id parameter to specify which MD drive to operate on.

can#

Configure CAN network parameters id, datarate and timeout with corresponding flags. --save flag can be used to save the configuration to flash memory.

calibration#

Calibrate the MD drive. If no options are provided the command will perform all of the necessary calibrations. Type of calibration can be specified using -e flag (main or aux). -t flag can be used to perform tests after calibration. The results of the test are printed in the info command output.

clear#

Clear MD drive errors and warnings.

config#

Configure MD drive using (MAB configuration file)[md_config_file]. Config can also be downloaded from the MD drive using md config download <file> command.

discover#

Discover MD drives on the network. This command does not require any parameters. It will print a list of all MD drives connected to the CANdle device on the selected CAN datarate.

Important

This command will not work if the MD drives are not powered on, nor when they are configured to use different CAN datarate than the one set in the candletool command.

save#

Save MD drive configuration to flash memory.

info#

Get debug information about the MD drive.

register#

Register operations for MD drive. They can be written or read using write or read subcommands. Specifying register can be done using either address or name. For example:

candletool md register read 0x010 --id 100

or

candletool md register read motorName --id 100

All of the available registers can be found in the MD registers section of this document.

test#

Test the MD drive movement. The movement can be done in positional relative (impedance) or positional absolute mode (position profile).

update#

Update firmware on MD drive using MAB firmware file.

pds#

Branch of CLI dedicated for PDS device.

Main module#

When issuing candletool pds command, the user can operate on the PDS device. All of the commands here are tied to the main PDS module.

Main commands for the PDS control module are:

  • info - Get information about the PDS device.

  • update - Update firmware on the PDS device using MAB firmware file.

  • can - Configure CAN network parameters id, datarate and timeout with corresponding flags.

  • save - Save PDS configuration to flash memory.

  • disable - Shutdown the PDS device with timeout specified in the configuration file.

  • setup_cfg - Setup PDS configuration file. This command will create a configuration file in the current directory.

To access submodules, the user can use candletool pds <module_name> <module_socket_number> command.

Module names are:

  • ps - Power supply module.

  • br - Brake resistor module.

  • ic - Isolated power converter module.

Main submodule commands are:

  • info - Get information about the PDS module.

  • enable - Enable the PDS module.

  • disable - Disable the PDS module.

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