Differences

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--- eeros_architecture:control_system:available_blocks:cansendfaulhaber [2020/06/04 18:30] – 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 taken from its input ''vel''. \\
-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
-<code cpp>
-setVelScale(Matrix<nofNodes,1,double>);
-</code>
-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.