Differences

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--- eeros_architecture:control_system:available_blocks:canhandle [2020/06/04 18:19] – created ursgraf
+++ eeros_architecture:control_system:available_blocks:canhandle [2020/06/04 18:32] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== CAN Handle ======
-This block sends PDO packets over a CAN bus to a Faulhaber drive. The drive itself must be initialized by SDO transfers up to the point where PDO transfer is possible. Each time the block is run by its time domain, a ''sync'' message is sent followed by RPDO1 (carrying the control word) and RPDO2 (velocity). While the control word can be set by the method
+This block establishes and returns a socket connection to an existing CAN bus. This socket is subsequently used by a [[eeros_architecture:control_system:available_blocks:canreceivefaulhaber|]] and [[eeros_architecture:control_system:available_blocks:cansendfaulhaber|]] block.
-<code cpp>
-setCtrl(Matrix<nofNodes,1,uint16_t>);
-</code>
-the velocity is taken from its input ''vel''. \\
-This blocks uses the [[http://github.com/ntb-ch/canopenlib|canopenlib]]. The connection to the CAN bus must be first established through a