nic/hal-cia402
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix readme

Browse Source
This commit is contained in:
dbraun1981
2021-03-13 17:22:51 +01:00
parent 421bc2013d
commit ae439fa0be
1 changed files with 14 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
README.md
View File

@@ -20,27 +20,41 @@ 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)
loadrt lcec loadrt lcec
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
addf cia402.2.read-all servo-thread addf cia402.2.read-all servo-thread
addf motion/ PIDs / PCL / etc . addf motion/ PIDs / PCL / etc .
addf cia402.0.write-all servo-thread addf cia402.0.write-all servo-thread
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 .....