Differences

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--- getting_started:tutorials:controlsystemcan1 [2024/06/10 13:26] – ursgraf
+++ getting_started:tutorials:controlsystemcan1 [2024/06/10 13:59] (current) – [Control System] ursgraf
@@ Line 15: / Line 15: @@
 $ sudo ./examples/can/canExample2
 </code>
-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 ====