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
.
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.
eeros_architecture/control_system/available_blocks/cansendfaulhaber.1591534570.txt.gz · Last modified: 2020/06/07 14:56 by ursgraf