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eeros_architecture:control_system:available_blocks:el2008

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eeros_architecture:control_system:available_blocks:el2008 [2021/10/07 10:15] – created ursgrafeeros_architecture:control_system:available_blocks:el2008 [2021/10/07 10:17] (current) ursgraf
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 ====== Beckhoff EL2008 Digital Output ====== ====== Beckhoff EL2008 Digital Output ======
-This block receives PDO packets over a CAN bus from a Faulhaber drive. The drive itself must be initialized by SDO transfers up to the point where PDO transfer is possible. The drive will send two TPDO upon receiving a ''sync'' packet, which must be sent by a [[eeros_architecture:control_system:available_blocks:cansendfaulhaber|]] block. Each time the block is run by its time domain, a TPDO1 (carrying the status word and actual velocity) and a TPDO2 (actual position and warnings) is received. The block has 4 output signals: ''status'', ''vel'', ''pos'', ''warnings''. \\ +This block samples up to 8 digital input signals and sends their state over EtherCAT to a Beckhoff EL2008 digital output device
-The velocity and position outputs are given in SI units, e.g. rad/s and rad. To account for encoder resolution of the actual drive together with a gearbox, it is possible to set scaling factor with +
-<code cpp> +
-setVelScale(Matrix<nofNodes,1,double>); +
-setPosScale(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/el2008.txt · Last modified: 2021/10/07 10:17 by ursgraf