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CANopen Receive
This block receives PDO packets over a CAN bus from a drive. The drives itself must be initialized by SDO transfers and brought into operational state where PDO transfer is possible. The control system must incorporate a block for sending and another one for receiving CAN messages, see CANopen Send.
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
setVelScale(Matrix<nofNodes,1,double>); setPosScale(Matrix<nofNodes,1,double>);
This blocks uses the CANopen Library. Make sure to install this library following https://wiki.eeros.org/getting_started/install_wrapper#canopen.