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fix readme

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dbraun1981
2021-03-13 17:14:52 +01:00
parent 21d413b6d0
commit f0cfeeae39
1 changed files with 10 additions and 7 deletions
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17
README.md
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@@ -2,6 +2,7 @@
HAL Interface for CiA402 Devices, HAL Interface for CiA402 Devices,
this component acts as a glue layer between hardware to Hal modules like Ethercat, CAN-Bus or others. this component acts as a glue layer between hardware to Hal modules like Ethercat, CAN-Bus or others.
It translates raw IO Data from the PDOs to the common linuxcnc Hal pin structure and has build in logic It translates raw IO Data from the PDOs to the common linuxcnc Hal pin structure and has build in logic
for the CiA402 State Control, feedback handling, external homing and build in scaling functions. for the CiA402 State Control, feedback handling, external homing and build in scaling functions.
@@ -12,20 +13,22 @@ The concept of integration in the correspondending task should be as following:
################### ########### ######### ############ #####################\n ################### ########### ######### ############ #####################
#HARDWARE INPUT # # CiA402 # #Motion # # CiA402 # # Hardware Output #\n
# like #-->>--#read_all #-->>>--#Pids #-->--#write_all #-->>--# like #\n
#Ethercat read_all# # etc. # # # # # # Ethercat write_all#\n
################### ########### ######### ############ #####################\n
#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
@@ -35,7 +38,7 @@ Hal Example:
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