Differences

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--- getting_started:tutorials:controlsystemcan1 [2024/06/10 13:24] – [Control System Using CAN] ursgraf
+++ getting_started:tutorials:controlsystemcan1 [2024/06/10 13:59] (current) – [Control System] ursgraf
@@ Line 1: / Line 1: @@
 ====== Control System Using CAN ======
+In the EEROS library you will find a directory with examples. This examples will only be present in your build directory if EEROS was built with ''-DUSE_CAN=TRUE'' set.
 ===== CAN Raw =====
-In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/can/|CAN Examples]]. The first example (CANexample1) uses a simple control system with a block sending raw CAN frames to a MYACTUATOR RMD-X series drive and another one receiving from the drive. \\
+For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/can/|CAN Examples]]. The first example (CANexample1) uses a simple control system with a block sending raw CAN frames to a MYACTUATOR RMD-X series drive and another one receiving from the drive. \\
 Open a shell in the build directory of your EEROS library and run
 <code>
@@ Line 13: / Line 15: @@
 $ sudo ./examples/can/canExample2
 </code>
-This example will only be present in your build directory if EEROS was built with ''-DUSE_CAN=TRUE'' set.\\
-The system comprises a control system, a safety system and a sequencer with a few sequences. The example assumes that you have two drives in your CAN network. The node identifiers are '1' and '2'. Read more about the functionality of the [[eeros_architecture:control_system:available_blocks:canreceivefaulhaber|]] and [[eeros_architecture:control_system:available_blocks:cansendfaulhaber|]] blocks.
 ==== Control System ====
-The control system basically has just a block to send CAN packages to the drives and another block to receive information from them. You have to adjust the scaling for the sending and receiving block according to your gearboxes and encoders.
+The system comprises a control system, a safety system and a sequencer with a few sequences. The example assumes that you have two drives in your CAN network. The node identifiers are '1' and '2'. The control system basically has a [[eeros_architecture:control_system:available_blocks:cansend|]] and a [[eeros_architecture:control_system:available_blocks:canreceive|]] block. While being in the safety level ''slInit'' the init sequence configures the drives to send TPDOs and receive RPDOs. Both drives are then brought into operational state and both blocks are enabled.
 ==== Safety System ====