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--- eeros_architecture:control_system:available_blocks:canreceivefaulhaber [2020/06/04 18:19] – created ursgraf
+++ eeros_architecture:control_system:available_blocks:canreceivefaulhaber [2020/06/04 18:29] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== CAN Receive Faulhaber ======
-This block receives 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 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>
-setCtrl(Matrix<nofNodes,1,uint16_t>);
+setVelScale(Matrix<nofNodes,1,double>);
+setPosScale(Matrix<nofNodes,1,double>);
 </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 [[eeros_architecture:control_system:available_blocks:canhandle|]] block.
-This blocks uses the [[http://github.com/ntb-ch/canopenlib|canopenlib]]. The connection to the CAN bus must be first established through a