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+Orocos can be started with:
+
+```
+cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
+
+ulimit -c unlimited
+
+sudo ./startOrocosRT
+```
+
+Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages  about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
+```
+Deployer [S]>
+```
+
+If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
+```
+PID0.kI=0.005
+```
+This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.