eeros_architecture:control_system:available_blocks:cansendfaulhaber
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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 | ||
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- | ====== 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 '' | + | |
- | <code cpp> | + | |
- | setCtrl(Matrix< | + | |
- | </ | + | |
- | the velocity is taken from its input '' | + | |
- | 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< | + | |
- | </ | + | |
- | This blocks uses the [[http:// | + |
eeros_architecture/control_system/available_blocks/cansendfaulhaber.1591288213.txt.gz · Last modified: 2020/06/04 18:30 by ursgraf