Can Protocol; Baud-Rate; Non-Periodic Communication; Periodic Communication - SimLab Allegro Hand User Manual

Baud-Rate

The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication

Messages can be sent to initialize or stop CAN communication.

Periodic Communication

The Allegro Hand control software attempts to communicate with the real or simulated hand at a
regular control interval. Every 3 milliseconds, the joint torques are calculated and the joint angles are
updated.

Standard CAN Packet

The standard CAN packet used for communication contains 8 bytes.
Code 1: CAN Packet Structure
typedef struct{
unsigned char STD_EXT;
unsigned long msg_id;
unsigned char data_length;
char data[8];
} can_msg;
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A L L E G R O H A N D U S E R S M A N U A L
//message identifier
//
// data array
25