Hardware

CAN bus utilization

Estimate the theoretical CAN FD load for a group of PULSE actuators. Adjust actuator count, telemetry selection, command rate, and data bitrate before configuring a high-rate system.

Actuators

6

1–10 actuators on one bus Telemetry items per actuator

4

Each item uses a 1-byte identifier and a 4-byte value

Telemetry frequency Hz Sent by each actuator

Command frequency Hz Sent by the host to each actuator

Control mode Torque Velocity Position Impedance Determines the maximum command parameters Command parameters

8 / 8

Includes the command; each parameter is a float32

CAN FD data bitrate

1 Mbit/s 5 Mbit/s

Estimated utilization

0.0% of bus capacity

Telemetry0.0%

Commands0.0%

Telemetry frame

—

Command frame

—

Total frames

—

Calculation

Each telemetry item occupies five data bytes: a one-byte identifier and a four-byte value. Payloads are rounded to a valid CAN FD size. Pulsar Python SDK permits at most 12 configured telemetry items.

Each command contains an action identifier followed by mode-specific float32 values. The estimate includes extended identifiers, protocol overhead, inter-frame spacing, and worst-case bit stuffing.

Note

This is a theoretical upper-bound estimate. Leave headroom for arbitration, configuration, diagnostics, retransmissions, clock tolerance, adapter timing, and other non-periodic traffic. A value below 100% is not a real-time guarantee.