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eeros_architecture:control_system:available_blocks:cansendfaulhaber

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eeros_architecture:control_system:available_blocks:cansendfaulhaber [2020/06/04 18:30] ursgrafeeros_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 ''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.+
eeros_architecture/control_system/available_blocks/cansendfaulhaber.1591288213.txt.gz · Last modified: 2020/06/04 18:30 by ursgraf