[Cubemars] Can Communication Error with AK70-10 T Motor

Actuators
1

Hello everyone!! It’s my first time to create a new topic in here.

I have a project about controlling AK70-10 motor with Arduino UNO.

But I have no experience about using CAN communication & T motor before, I read the topics that created in forum.

With the code “Read_CAN_ID.ino” (below code), I found that my motor’s ID is “0x80002900”

#include <mcp_can.h>
#include <SPI.h>

MCP_CAN CAN(10); // Set CS pin with D10

void setup() {
  Serial.begin(115200);
  while (CAN.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ) != CAN_OK) {
    Serial.println("Error Initializing MCP2515...");
    delay(1000);
  }
  CAN.setMode(MCP_NORMAL); // Set CAN mode as normal mode
  Serial.println("CAN BUS Shield setting is ok!!!");
}

void loop() {
  long unsigned int rxId;
  unsigned char len = 0;
  unsigned char rxBuf[8];

  if (CAN.checkReceive() == CAN_MSGAVAIL) {
    CAN.readMsgBuf(&rxId, &len, rxBuf); // Receive CAN Message
    Serial.print("CAN ID: 0x");
    Serial.println(rxId, HEX); // Print received CAN message into 16bit

    Serial.print("Data: ");
    for (int i = 0; i < len; i++) {
      Serial.print(rxBuf[i], HEX);
      Serial.print(" ");
    }
    Serial.println();
  }
}

After finding the CAN ID of T motor, I applied on the code that provided from Testing Cubemars AK60-6 motor using arduino.

I setup similar with the post, but it didn’t work… So can you guys help me with control the motor?

Hardware
Arduino UNO
Cubemars AK70-10 kv100 motor
MCP2515 CAN Bus with 8MHz

Software
MCP_CAN_lib in Arduino

After I debugging with cubemars upper software, I got result like this:

image
image602×527 5.18 KB

According to this, It says that the can ID is 1.

But my arduino code says 0x80002900… I’m really stuck on this… Please help me…

2

Unfortunately, we do not have much experience with this. If you check on our forums someone faced an issue with Cubemars, perhaps you can try and contact them or Cubemars support directly.

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