Difference between revisions of "CAN Protocol"
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Alexalspach (Talk | contribs) (→Non-Periodic Communication) |
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===Non-Periodic Communication=== | ===Non-Periodic Communication=== | ||
| + | Messages can be sent to initialize or stop CAN communication. | ||
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===Periodic Communication=== | ===Periodic Communication=== | ||
==CAN Frames== | ==CAN Frames== | ||
Revision as of 21:13, 5 October 2012
Contents |
CAN Communication
Baud-Rate
The CAN communication baud-rate is 1Mbps.
Non-Periodic Communication
Messages can be sent to initialize or stop CAN communication.
Periodic Communication
CAN Frames
Standard CAN Packet
ID (Message Identifier)
Command Identifiers
Source and Destination Identifiers
Case-study: Softing CAN
Opening the CAN Communication Channel
CAN Initialization
Starting Periodic CAN Communication
Stopping Periodic CAN Communication
Transmitting Control Torques
Receiving Joint Angles
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