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 CAN Send Faulhaber 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.

setCtrl(Matrix<nofNodes,1,uint16_t>);

the velocity is taken from its input vel.
This blocks uses the canopenlib. The connection to the CAN bus must be first established through a