SCK : Serial Clock. Alternatives: SCK, SCLK, CLK, SCL
MOSI : "Master" Out → "Slave" In. Now can be read as "Main" Out "Sub" In, or can use these alternatives: SIMO, MTSR, SPID - correspond to MOSI on both main and sub devices, connects to each other SDI, DI, DIN, SI, SDA - on sub-only devices; Various abbreviations for "Serial" "Data" "In". Connects to MOSI (or alternative names) on main SDO, DO, DOUT, SO - on main-only devices; Various abbreviations for "Serial" "Data" "Out". connects to MOSI (or alternative names) on sub COPI, PICO for "peripheral and controller",[36][37] or COTI for "controller" and "target"[38]
MISO : "Master" In ← "Slave" Out. Now can be read as "Main" In "Sub" Out, or can use these alternatives: SOMI, MRST, SPIQ - correspond to MISO on both main and sub devices, connects to each other SDO, DO, DOUT, SO - on sub-only devices; connects to MISO (or alternative names) on main SDI, DI, DIN, SI - on main-only devices; connects to MISO (or alternative names) on sub CIPO, POCI,[36][37] or CITO[38]
SS : "Slave" Select (same functionality as Chip Select). Alternatives: SS, SS, SSEL, NSS, /SS, SS# (sub select) CS, CS (chip select) CE (chip enable)
그리고 다빈치 로봇처럼 그 구멍을 고정해서 들락날락 해야 하는 경우는 TCP로 안되는건가?
set_tool_reference([x, y, z, rx, ry, rz]) //Set tool coordinate system set_end_type(1) //Set the end coordinate system type as tool Assume that the tool coordinate system T is not rotated relative to O' (rx = ry = rz = 0) Assume that the origin of the tool coordinate system T is in the coordinate system O’ at (x = 0, y = 0, z = 100mm) The final tool coordinate system parameter is set_tool_reference(0, 0, 100, 0, 0, 0)
cd /lib/systemd/system/ sudo nano hello.service The service definition must be on the /lib/systemd/system folder. Our service is going to be called "hello.service":
[Unit] Description=Hello World After=multi-user.target
Here we are creating a very simple service that runs our hello_world script and if by any means is aborted is going to be restarted automatically. You can check more on service's options in the next wiki: https://wiki.archlinux.org/index.php/systemd.
Now that we have our service we need to activate it:
