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--- getting_started:tutorials:controlsystemcan1 [2020/06/07 14:39] – ursgraf
+++ getting_started:tutorials:controlsystemcan1 [2021/03/31 14:25] (current) – [Control System Using CANopen] ursgraf
@@ Line 1: / Line 1: @@
 ====== Control System Using CANopen ======
-In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run ''sudo ./examples/can/CanExample''. This example will only be present in your build directory if EEROS was built with ''-DUSE_CAN=TRUE'' set. \\
+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/|CanExample.cpp]].
-The system comprises a control system, a safety system and a sequencer with a few sequences. The example assumes that you have two identical Faulhaber drives in your CAN network. The node identifiers are '1' and '2'.
+Open a shell in the build directory of your EEROS library and run
+<code>
+$ sudo ./examples/can/CanExample
+</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 identical Faulhaber 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 ====
@@ Line 10: / Line 16: @@
 ==== Sequencer ====
-The most important sequence is the ''initSequence''. It initialyzes the drives (by NMT commands and SDO transfers) and brings them up to operational mode (by PDO transfers). The 'moveSequence'' simply turns the motors back and forth while logging the velocity and the position. The ''stopSequence'' disables the drives before the program ends.
+The most important sequence is the ''initSequence''. It initialyzes the drives (by NMT commands and SDO transfers) and brings them up to operational mode (by PDO transfers). The ''moveSequence'' simply turns the motors back and forth while logging the velocity and the position. The ''stopSequence'' disables the drives before the program ends.