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fix readme

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dbraun1981
2021-03-13 17:19:07 +01:00
parent f0cfeeae39
commit 337bb2bbf6
1 changed files with 7 additions and 17 deletions
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24
README.md
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@@ -13,23 +13,12 @@ The concept of integration in the correspondending task should be as following:
################### ########### ######### ############ ##################### HARDWARE INPUT-->--CiA402_read-->--Motion-->--CiA402_write-->--Hardware Output
(lcec_read) (lcec_write)
#HARDWARE INPUT # # CiA402 # #Motion # # CiA402 # # Hardware Output #
## like #-->>--#read_all #-->>>--#Pids #-->--#write_all #-->>--# like #
#Ethercat read_all# # etc. # # # # # # Ethercat write_all#
################### ########### ######### ############ #####################
Hal Example: Hal Example:
#########
#Setup #Setup
#########
loadrt [KINS]KINEMATICS loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
(loadusr -W lcec_conf ethercat-conf.xml) (loadusr -W lcec_conf ethercat-conf.xml)
@@ -37,9 +26,9 @@ Hal Example:
loadrt cia402 count=3 loadrt cia402 count=3
loadrt pid names=x-pid,y-pid,z-pid loadrt pid names=x-pid,y-pid,z-pid
##########################
#Functions servo-thread #Functions servo-thread
##########################
addf lcec.read-all servo-thread addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread addf cia402.1.read-all servo-thread
@@ -51,10 +40,11 @@ Hal Example:
addf cia402.1.write-all servo-thread addf cia402.1.write-all servo-thread
addf cia402.2.write-all servo-thread addf cia402.2.write-all servo-thread
addf lcec.write-all servo-thread addf lcec.write-all servo-thread
#########################################
#nets ..... #nets .....
Modes of Operation: Modes of Operation:
By default the component is set to CSP Mode, CSV Mode could be selected with an: By default the component is set to CSP Mode, CSV Mode could be selected with an: