====== Experimental Setup with a cb20 Board ======
Use our [[http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board|cb20 Board]]. A maxon motor controller on a [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/db|db11 Board]] delivers the necessary power. Connect all the necessary signals according to the table in [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/db|db11 Board]].

===== 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 will be automatically transfered when deploying the application as described in [[getting_started:deploy:deploy_cb20|]].
<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.