====== CAN Receive Faulhaber ======
This block receives PDO packets over a CAN bus from a Faulhaber drive. The drive itself must be initialized by SDO transfers up to the point where PDO transfer is possible. The drive will send two TPDO upon receiving a ''sync'' packet, which must be sent by a [[eeros_architecture:control_system:available_blocks:cansendfaulhaber|]] block. Each time the block is run by its time domain, a TPDO1 (carrying the status word and actual velocity) and a TPDO2 (actual position and warnings) is received. The block has 4 output signals: ''status'', ''vel'', ''pos'', ''warnings''. \\
The velocity and position outputs are given in SI units, e.g. rad/s and rad. To account for encoder resolution of the actual drive together with a gearbox, it is possible to set a scaling factor with
<code cpp>
setVelScale(Matrix<nofNodes,1,double>);
setPosScale(Matrix<nofNodes,1,double>);
</code> 
This blocks uses the [[http://github.com/ntb-ch/canopenlib|canopenlib]]. The connection to the CAN bus must be first established through a [[eeros_architecture:control_system:available_blocks:canhandle|]] block.