Hi,
I’m trying to communicate with my motor using Advanced motion controls’ DZCANTE-040L080 digital servo drive via CANopen communication protocol. I read/write CAN information using Microchip CAN Bus Analyzer.

Problem: I’m able to run the motor in forward/clockwise direction, but I’m unable to run the motor in backward/anticlockwise direction.

Hardware Setup:
CAN Bus Analyzer -> DZCANTE-040L080 motor drive -> Motor.

CAN communication execution steps:
Format COB ID DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
HEX 00 2 80 01
HEX 601 8 22 15 14 01 81 01 00 00
HEX 601 8 22 15 14 02 FE 00 00 00
HEX 00 2 01 01
HEX 181 4 06 00 00 00
HEX 181 4 07 00 00 00
HEX 181 4 0F 1B FF 00
HEX 181 4 0F 20 00 00

Step1: Sending NMT message to Node 1; Host commands Node 1 to Pre-Operational State.
Step2: Writing COB-ID 181 to 22ndRPDO (Target Velocity) (1415.01h).
Step3: Setting trigger mechanism of 22ndRPDO (1415.02h) to respond immediately upon receipt of data.
Step4: Sending NMT message to Node 1; Host commands Node 1 to Operational state.
Step5: Using 22ndRPDO to set the drive to Shutdown control state.
Step6: Using 22ndRPDO to set the drive to Operation Disabled control state.
Step7: Using 22ndRPDO to set the drive to Operation Enabled control state and sending data bytes to run the motor in forward/clockwise direction.
Step8: Setting positive stop/torque inhibit (200Fh) to stop forward rotation of the motor.

I need CAN communication message/byte sequence to move the motor in anticlockwise/backward direction. (What data sequence is required to set the motor to direction of rotation: backward/anticlockwise??). This would be of great help if someone kindly help me with this problem. Thankyou.