Skip to content

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.

Downloads

Command definitions (JSON) · Position DBC · Velocity DBC · Current 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.

Choose the DBC for the Send_data_pack_1 layout your host sends:

File Command layout
Position DBC 8 bytes: position, speed feedforward, current feedforward
Velocity DBC 5 bytes: speed, current feedforward
Current DBC 2 bytes: current

The three layouts share a CAN identifier. DBC cannot select a layout from the frame's length, so load the matching file; the browser decoder below handles all three lengths. Other message layouts are the same in each download.

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…

Build a frame 

    
  

  
Decode a frame
    
    
    
    
    

  

  






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.








  
    
  
  


  


  



  



  
Comments

  
  

                
  
  

  

    Found a mistake on this page?
    Edit it on GitHub ·
    Report it
    · Get help
    · This page as Markdown
    · llms.txt
    · The whole manual as PDF