SimLab Allegro Hand User Manual page 6

Mounting the Allegro Hand.................................................................................................................... 21
Mounting Block Removal ............................................................................................................... 21
Mounting ........................................................................................................................................ 23
Reassembly ................................................................................................................................... 23
Mount Block Dimensions ............................................................................................................... 24
CAN Protocol ........................................................................................................................................ 25
Baud-Rate ...................................................................................................................................... 25
Non-Periodic Communication ........................................................................................................ 25
Periodic Communication ................................................................................................................ 25
CAN Frames ......................................................................................................................................... 25
Standard CAN Packet .................................................................................................................... 25
ID (Message Identifier)................................................................................................................... 26
Command Identifiers ...................................................................................................................... 26
Source and Destination Identifiers ................................................................................................. 26
Case-study: Softing CAN ...................................................................................................................... 27
Opening the CAN Communication Channel .................................................................................. 27
CAN Initialization ............................................................................................................................ 28
Starting Periodic CAN Communication .......................................................................................... 28
Stopping Periodic CAN Communication ........................................................................................ 28
Transmitting Control Torques ........................................................................................................ 29
Receiving Joint Angles................................................................................................................... 30
Technical Support ................................................................................................................................. 31
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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
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