SECTION 9: CAN INSTALLATION T200 User's Manual
PAGE 9-3
9.1 Introduction
CAN is an abbreviation for the Controller Area Network. This is a high speed serial interface which was designed for
use in Automotive and Industrial applications.
The T200 provides two CAN Modes of operation:-
1. CAN Interpolation Mode:- The System Motion Controller transmits target positions at high data rates, and the T200
finely interpolates these positions to follow the target trajectory.
2. CAN Profile Mode. The System Motion Controller offloads complex motion calculations to the T200, which
provides the following functions:-
§ Point to Point Mode. The Control Computer transmits a target position, velocity and acceleration via the CAN
interface. The T200 generates a smooth trajectory to the target position using this data.
§ Gearing Mode. A 'master' T200 generates a 'Master-Angle' position reference at a high rate. One or many
T200 'slaves' receive this reference. These slaves multiple the 'Master-Angle' by a user programmed factor, and
use the result as their command position.
§ Camming Mode. Slave T200's simulate a mechanical cam with high precision. Slave T200's transform the
'Master-Angle' through a user defined cam shape, and use the result as their command position.
§ Velocity Mode. The T200 operates in velocity mode, with the command velocity and torque limit transmitted at
high speed via the CAN interface.
CAN Profile and Interpolation modes are described in detail in additional documents:-
1. CAN Protocol for Interpolation Mode and
2. CAN Protocol for Profile Mode
These documents are available on request from Moog Sales Outlets (See Section 11 for addresses and phone numbers).
Users are directed to read Section 2, Safety Instructions, before proceeding with installation.
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