====== Experimental Setup with a cb20 Board ======

Back to [[oneaxis|]]

Use our [[https://wiki.ost.ch/spaces/EDS/pages/408682789/Controller+Board+with+Colibri+Module|cb20 Board]]. A maxon motor controller on a [[https://wiki.ost.ch/spaces/EDS/pages/408682793/Drive+Board+db11|db11 Board]] delivers the necessary power. Connect all the necessary signals according to the table in [[https://wiki.ost.ch/spaces/EDS/pages/408682793/Drive+Board+db11|db11 Board]].

{{:getting_started:tutorials:cb20motor.jpg?400|}}

===== Testing the Hardware =====

==== Analog Output and Enable ====
You can test the analog output together with the motor controller by applying a positive set voltage. Further, you have to enable the motor. The necessary flink test programs are included in our image.
<code>
$ sudo ./flinkdio -s5 -c0 -wh
$ sudo ./flinkanalogoutput -s2 -c0 -o34000
</code>

==== Encoder Inputs ====
Check if the encoder is properly connected with:
<code>
$ sudo ./flinkcounter -s1 -c0 -n20 
</code>
Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.

==== Ready Signal ====
The ready signal signals to the controller that the motor controller has powered up.

==== Emergency Signal ====

The emergency signal is used to bring the application in a safe mode. We connect this input signal (channel 0 on connector P12 to an external push button. As soon as a logic one is detected on this digital input the safety system is caused to switch to an emergency state.

=====Run Application=====

Start the application by choosing the appropriate configuration file:
<code>
$ sudo ./simpleMotorControl -c HwConfigFlinkCB20.json
</code>