SumiyomoAGV

Base code for Sumitomos AGV, and companion app

Glosary:

Acronymn	Meaning
CAN	Controller Area Network
CDM	CANopen Device Monitor
CiA	CAN in Automation e.V.
CMS	CAN Message Specification
COB	Communication Object (CAN Message)
COBID	Communication Object Identifier
CRC	Cyclic redundancy check. Bit error protection method for data communication
CSDO	Client SDO
DAM	Destination Address Mode
EDS	Electronic Data Sheet. This is a file with the device specific parameter description and is provided by the manufacturer of a DeviceNet or CANopen device.
EMCY	Emergency Object
HAL	Hardware Abstraction Layer
ISR	Interrupt Service Routine
LME	Layer Management Entity
LMT	Layer Management
LSS	Layer Setting Services
MPDO	Multiplexed PDO
NMT	Network Management
OD	Object Dictionary
PDO	Process Data Objects. They are messages in an unconfirmed service. They are used for the transfer of real-time data to and from the device.
RPDO	Receive PDO
RTR	Remote Transmission Request
SAM	Source Address Mode
SCT	Safeguard Cycle Time (CANopen Safety)
SDO	Service Data Objects, messages in a confirmed service. They are used for the access of entries in the object dictionary.
SRD	SDO Requesting Device
SRDO	Safety Relevant Data Objects
SRVT	Safety Relevant object Validation Time (CANopen Safety)
SSDO	Server SDO
SYNC	Synchronization Object (CANopen communication object)
TIME	Time Stamp Object
TPDO	Transmit PDO

Source

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Ginkgo USB-CAN Interface Adapter

Materials:

• Printer 2 USB cable
• Ginkgo CAN interface

Set Up

1. Connect the driver to your computer

2. Use the terminal to list all your USB devices. Write down the device Bus XXX Device XXX and ID XXXX:XXXX (idVendor:idProduct)

   lsusb

3. On the host device, create a filename called etc/udev/rules.d/10-GinkgoUSBCAN.rules.

   1. Write the following to the file:

   SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="0666", GROUP="jpc"

   2. Take into account the idVendor and idProduct listed on your USB Devices. And also, change the group your user belongs to.

   whoami

   groups

   3. Source
   4. Source

4. Once you've done that, execute:, where the 0XX is replaced by the Device shown in the listed USB devices

   sudo udevadm info -a -p $(udevadm info -q path -n /dev/bus/usb/001/0XX)

5. After that a list of pci devices will be shown, look for the one that has as manufacturer: ViewTool. Copy it's device name, it's quotated. Mine is: '/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2'

6. Test the device

   sudo udevadm test /devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2

7. If no errors are promted, you are good to go

8. Wake up the CAN service Source

   sudo modprobe can-raw

   sudo modprobe slcan

   sudo slcand -o -s8 -t hw -S 3000000 /dev/ttyUSB0

   sudo ip link set up slcan0

9. Remember to set correctly the transmission bitrate

SCII Command	CAN Bitrate
s0	10 Kbit/s
s1	20 Kbit/s
s2	50 Kbit/s
s3	100 Kbit/s
s4	125 Kbit/s
s5	250 Kbit/s
s6	500 Kbit/s
s7	800 Kbit/s
s8	1000 Kbit/s

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Install drivers:

1. Go to the following website: http://viewtool.com/product/readmefirst/

2. Choose the file for your architecture and OS, then download it.

   1. As you decompress it, you'll realice it's a library object. file.so on Linux.
   2. Save it under the /lib or /usr/lib folder, with a name that's easily recallable. I chose to create the folder viewtool_CAN, and moved the files there
   3. Source

3. Download the bootloader from the first link and make sure the driver was installed correctly

4. Download SocketCAN

   1. Since the file is a file.ko, that basically means it's a loadable kernel module
   2. Follow this document to complete the installation

5. Download the library for the language you'll be using from

   modinfo first_driver.ko

   uname -r

   dmesg | tail

https://manpages.ubuntu.com/manpages/bionic/man1/slcand.1.html

https://scratchrobotics.com/2019/07/03/how-to-enable-can-bus-on-nvidia-jetson-tx2-developer-board/

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Turn on fans:

sudo jetson_clocks

sudo echo 255 > /sys/devices/pwm-fan/target_pwm

SSH

The SSH deamon is on by default on the Jetson

ssh-keygen

Codesys Edge Gateway Codesys control (CAN)