A few Questions about proggramming with CAN

[Trump]

Thanks every one for the clarifications, as to the link i posted i was concerned basically because it seemed like people were having trouble getting the set function to work in speed mode. I just wanted to check to see if this was actually the case because i have no experience using CAN.

As to setting the speed reference I know we are using the quad encoders, do i still need to set the number of clicks?