Experimental Setup with a PC with National Instruments Card

Back to Control a Single Motor

We use a regular PC (x86-64) together with a National Instrument card: PCIe - 6251 (M-Series). The card requires the comedi library together with the EEROS hardware wrapper, see comedi. In any case you have to install comedi separately. A maxon motor controller (50V / 5A) delivers the necessary power.

Connect all the necessary signals according to your hardware configuration file, notably

• analog output and enable signal to the motor controller
• encoder outputs (A/B signals) to the decoder inputs
• motor controller ready signal to a digital input
• emergency button to a digital input

Make sure that a positive voltage on the motor leads to the encoder counting upwards. If the opposite is the case, either change the cables or change the hardware configuration file.

Start the application by choosing the appropriate configuration file:

$ sudo ./simpleMotorControl -c HwConfigComedi.json