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CAN frame tool and downloads

Build or inspect a frame using the command definitions of this manual's firmware release. All calculations run in your browser; the tool does not connect to an adapter or send commands to hardware.

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Command definitions (JSON) · Gripper DBC

The JSON includes the firmware tag, source commit, message IDs, every documented layout and its bit order. The DBC files cover nodes 0 to 13, with both the clean and fault-bit identifiers of driver replies. Reserved commands are omitted. Values use the firmware's native units: ticks, ticks/s, mA and the units in the CAN reference.

An RTR request uses the same identifier as its data reply. DBC describes the data reply; it does not represent the request's RTR flag or the empty gripper status poll. Both are supported by the browser tool.

The gripper's two object-detection bits have an unusual order: bit 5 is the low bit, bit 4 the high bit. The DBC signal gripper_object_detection_raw retains the wire value and supplies text labels (raw 2 = object while closing, raw 1 = object while opening). The browser decoder converts that pair to the firmware's numeric status (1 = closing, 2 = opening).

Try a frame

The example 0x07A, data C8 1E 01 2C C0, is a command to gripper node 0: position 200, speed 30, current 300 mA, activate and action set, E-stop and release direction clear. These are an illustration of the encoding; the device's current and motion limits still apply. Select another message above the fields to build one of its documented forms. To inspect a reply, enter its identifier and data bytes below.

Loading the firmware's command definitions…

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Check: the example decodes to the values above. Change the identifier to 0x1FA to see the same command
addressed to node 3. An invalid length or out-of-range field produces an explanation instead of a frame.


For wiring, termination, host timing and recovery, use Over CAN. To look up a
message's purpose and accepted lengths, use the CAN reference.








  
    
  
  


  


  



  



  
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