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--- eeros_architecture:control_system:available_blocks:cansendfaulhaber [2020/06/04 18:02] – ursgraf
+++ eeros_architecture:control_system:available_blocks:cansendfaulhaber [2024/05/30 15:21] (current) – removed ursgraf
@@ Line 1: / Line 1: @@
-====== CAN Send Faulhaber ======
-This block sends 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
-<code cpp>
-setCtrl(Matrix<nofNodes,1,uint16_t>);
-</code>
-the velocity is put
-This block can be connected to any signal whose value has type ''double''. \\
-IMPORTANT The time stamp of the signal is not transmitted.