nic/hal-cia402
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fix readme

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This commit is contained in:
dbraun1981
2021-03-13 17:24:28 +01:00
parent ae439fa0be
commit e772757686
1 changed files with 17 additions and 16 deletions
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33
README.md
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@@ -19,40 +19,39 @@ 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 .....
@@ -86,6 +85,8 @@ Flexibility:
Even though this component exports many pins, you can choose which functions you want to use: Even though this component exports many pins, you can choose which functions you want to use:
If you would like to use the CiA State Machine, connect Statusword and Controlword. If you would like to use the CiA State Machine, connect Statusword and Controlword.
For single use of the scaling function connect only the fb and cmd pins from position or velocity. For single use of the scaling function connect only the fb and cmd pins from position or velocity.
If no Drives homing is needed, let the Pins unconnected. If no Drives homing is needed, let the Pins unconnected.