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.
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

setVelScale(Matrix<nofNodes,1,double>);

This blocks uses the canopenlib. The connection to the CAN bus must be first established through a canhandle block.