diff --git a/ReadMe.md b/ReadMe.md
index 689368f4a9b6435e7649e191850e896efbd36cd8..0edaca420678b29b5c90f606ef2a304a8d76230f 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -10,7 +10,7 @@ This driver offers a c++ wrapper to control a pan&tilt [PTU-D46](https://www.sus
  * Move both servos to a desired position.
  * Move both servos to a desired position relative to the current position.
  * Move both servos on torque mode.
- * Get any feedback that the pna-tilt offers.
+ * Get any feedback that the pan&tilt offers.
 
 On the following image is shown a pan&tilt and its controller:
 
@@ -32,8 +32,8 @@ Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UP
 Author shernand (shernand@iri.upc.edu)
 All rights reserved.
 
-This file is part of Pan project_name Tilt PTU-D46 driver library
-Pan project_name Tilt PTU-D46 driver library is free software: you can redistribute it and/or modify
+This file is part of Pan&Tilt PTU-D46 driver library
+Pan&Tilt PTU-D46 driver library is free software: you can redistribute it and/or modify
 it under the terms of the GNU Lesser General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 at your option) any later version.
@@ -57,6 +57,7 @@ This package requires of the following system libraries and packages
 
  * [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
  * [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
+ * [XSD](http://wiki.codesynthesis.com/XSD "XSD wiki main page") to enable XML support.
  * stdc++.
 
 Under linux all of these utilities are available in ready-to-use packages.
@@ -86,7 +87,7 @@ The RELEASE build mode optimizes for speed. To build in this mode execute instea
 
 The release mode will be kept until next time cmake is executed.
 
-``` make ``` 
+``` make -j $(nproc)``` 
 
 In case no errors are reported, the generated libraries (if any) will be located at the
 _lib_ folder and the executables (if any) will be located at the _bin_ folder.
@@ -97,8 +98,9 @@ To do that, execute
 ``` make install ```
 
 as root and the shared libraries will be copied to */usr/local/lib/iri/ptu_d46* directory
-and the header files will be copied to */usr/local/include/iri/ptu_d46* dierctory. At
-this point, the library may be used by any user.
+and the header files will be copied to */usr/local/include/iri/ptu_d46* dierctory. If the 
+support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/ptu_d46/xml*. 
+At this point, the library may be used by any user.
 
 To remove the library from the system, exceute
 
@@ -114,15 +116,22 @@ To generate the documentation execute the following command:
 
 To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
 
-``` FIND_PACKAGE(<library name>) ```
+``` FIND_PACKAGE(ptu_d46) ```
 
 In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
 
-``` INCLUDE_DIRECTORIES(${<librray name>_INCLUDE_DIRS}) ```
+``` INCLUDE_DIRECTORIES($ptu_d46_INCLUDE_DIRS}) ```
 
 and it is also necessary to link with the desired libraries by using the following command
 
-``` TARGET_LINK_LIBRARIES(<executable name> ${<library name>_LIBRARIES}) ```
+``` TARGET_LINK_LIBRARIES(<executable name> ${ptu_d46_LIBRARIES}) ```
+
+## Examples
+
+There are three examples:
+ * _test\_ptu\_d46_ where the pan&tilt unit is moved to an absolute angle.
+ * _test\_ptu\_d46\_speed where the pan&tilt unit is moved on torque mode.
+ * _test\_sequence_ where the pan%tilt unit is moved following a trajectory.
 
 </p>
 </details>