Servosila-SC-25-Programming-Guide

Application Programming Interfaces
Linux APIs
Linux SocketCAN API can be used to develop software that sends commands to SERVOSILA
controllers or receives telemetry back from the controllers.
If the path taken is to develop the control software from scratch, there are samples of open source
programs available from Servosila or can be found on the Internet that make use of Linux
SocketCAN API. Otherwise, many off-the-shelf software products such as LabView support
SocketCAN API out of the box, and come with an integrated CANopen stack.
Whenever a USB 2.0 interface (vs. a CANbus interface) is used to connect Servosila controllers
to a Linux control computer, the controllers appear as virtual serial ports. A text protocol called
SLCAN is then used to send commands to the controllers through the virtual COM port as well
as for receiving telemetry back.
8 www.servosila.com
Linux SocketCAN API
Servosila SC-25
Brushless Motor Controller
CAN bus hardware
Application
CAN bus cable
Linux Control Computer
Linux SocketCAN API
Servosila SC-25
Brushless Motor Controller
SLCANd (driver)
Application
Linux Control Computer
USB cable
C/C++ API C/C++API
/dev/ttyAC**
Servosila SC-25
Brushless Motor Controller
Application
Linux Control Computer
Text File API
USB cable