eeros_architecture:control_system:available_blocks:cansendfaulhaber
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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
setCtrl(Matrix<nofNodes,1,uint16_t>);
the velocity is taken from its input vel
.
This blocks uses the canopenlib. The connection to the CAN bus must be first established through a canhandle.
eeros_architecture/control_system/available_blocks/cansendfaulhaber.1591287572.txt.gz · Last modified: 2020/06/04 18:19 by ursgraf