RoboteqCAN

Library used: https://github.com/autowp/arduino-mcp2515

Useful Links:

- https://en.wikipedia.org/wiki/CANopen 
- https://www.generationrobots.com/media/roboteq/can-networking-manual.pdf#page=18&zoom=130,-126,604
- https://en.wikipedia.org/wiki/CANopen#Object_dictionary

Response from the roboteq device:

Header	DLC	Byte 0	Byte 1 - 2	Byte 3	Byte 4 - 7
0x600 + nd	8	see Byte 0 table	index	subindex	data

Byte 0 table:

bits 4-7	bits 2-3	bits 0-1
ccs=1	n	xx=0

*each section of Byte 0 is a 4-bit unsigned int

• ccs is the client command specifier of the SDO transfer, this is 0 for SDO segment download, 2 for command, 4 for query, 6 for successful, 8 for error

• n is the amount of bytes that will hold no data

• xx is always 0 as we are using using expedited transfer

• index is the object dictionary index of the data to be accessed

• subindex is the subindex of the object dictionary variable

• data contains the data to be uploaded (the response will only contain data if request object is a query format)

Please see page 33 and onward to view available commands/queries in the CAN networking manual.