eeros_architecture:control_system:available_blocks:cansendfaulhaber
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eeros_architecture:control_system:available_blocks:cansendfaulhaber [2020/06/07 15:24] – 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. The control system must incorporate a block for sending and another one for receiving CAN messages. | ||
- | [{{ : | ||
- | |||
- | The block for sending will periodically (given by its time domain) send a '' | ||
- | |||
- | 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.1591536287.txt.gz · Last modified: 2020/06/07 15:24 by ursgraf