Differences

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--- eeros_architecture:control_system:available_blocks:canopensend [2024/05/30 17:11] – [Data Transfer] ursgraf
+++ eeros_architecture:control_system:available_blocks:canopensend [2024/05/30 17:13] (current) – ursgraf
@@ Line 20: / Line 20: @@
 </code>
-and RPDO2 (velocity). While the control word can be set by the method
+The control word has no input but can be set by the method
 <code cpp>
-setCtrl(Matrix<nofNodes,1,uint16_t>);
+setCtrl(uint8_t index, uint16_t ctrl>);
 </code>
-the velocity is taken from its input ''vel''. \\
-The velocity input expects a signal in SI units, e.g. rad/s. To account for encoder resolution of the actual drive together with a gearbox, it is possible to set a scaling factor with
+The floating point input signals expect signals in SI units, e.g. rad/s. 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>);
+setScale(Matrix<N,M,double>);
 </code>
 This blocks uses the [[https://gitlab.ost.ch/tech/inf/public/canopenlib|CANopen Library]]. Make sure to install this library following [[https://wiki.eeros.org/getting_started/install_wrapper#canopen|]].