This block sends raw CAN messages to one or several MYACTUATOR RMD-X series drives. The block gets the position information for the drives from its input signal. The speed information for the drives can be set with

void setSpeed(Matrix<N,1,double>& speed);

The control system must incorporate a block for sending and another one for receiving CAN messages.

Control system for CAN

The block for sending will periodically send a CAN message while the receiving block gets the current information from the drive. It is important that the sending block is run after the block for receiving CAN messages.

The position input expects a signal in SI units, e.g. rad. To account for encoder resolution of the actual drive together with a gearbox, it is possible to set a scaling factor with

void setScale(Matrix<N,1,double>& scale);

This blocks uses the CANopen Library. Make sure to install this library following https://wiki.eeros.org/getting_started/install_wrapper#canopen.