Differences

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--- eeros_architecture:control_system:available_blocks:cansend [2024/05/27 16:58] – ursgraf
+++ eeros_architecture:control_system:available_blocks:cansend [2024/05/27 17:03] (current) – ursgraf
@@ Line 11: / Line 11: @@
 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 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 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
 <code cpp>
 void setScale(Matrix<N,1,double>& scale);
 </code>
-This blocks uses the [[https://gitlab.ost.ch/tech/inf/public/canopenlib|CANopen Library]]. The connection to the CAN bus must be first established through a [[eeros_architecture:control_system:available_blocks:canhandle|]] block.
+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|]].