getting_started:overview
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getting_started:overview [2017/04/07 13:06] – [Hardware Abstraction Layer (HAL)] graf | getting_started:overview [2021/04/01 14:01] – [Sequencer] jonasfrei | ||
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The safety system is designed as a series of hierarchical security levels. It monitors critical inputs and outputs and ensures, for example, that a fall back to the safety level " | The safety system is designed as a series of hierarchical security levels. It monitors critical inputs and outputs and ensures, for example, that a fall back to the safety level " | ||
- | [{{ eeros-architecture.png? | + | [{{ architecture.png? |
It can be easily and clearly seen how the control engineer is supported by the structure of the framework. It reminds him of what needs to be initialized and defined and keeps a clear vision of the overall system. | It can be easily and clearly seen how the control engineer is supported by the structure of the framework. It reminds him of what needs to be initialized and defined and keeps a clear vision of the overall system. | ||
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The robot controller, defined in EEROS as the control system, is the real-time core of the application. In order to guarantee the modular and exchangeable nature of the software system, it is built from predefined blocks, which can alter the signals flowing through the blocks. Nesting and ordering of these blocks creates very clear hierarchical structures. Blocks can be assigned to real- or non-real-time domains. Additionally, | The robot controller, defined in EEROS as the control system, is the real-time core of the application. In order to guarantee the modular and exchangeable nature of the software system, it is built from predefined blocks, which can alter the signals flowing through the blocks. Nesting and ordering of these blocks creates very clear hierarchical structures. Blocks can be assigned to real- or non-real-time domains. Additionally, | ||
- | Learn more about the control system | + | [[: |
[{{ : | [{{ : | ||
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Each level reads the states from all safety-critical inputs and defines the states of all safety-critical outputs. There are no actions allowed during a transition between two safety levels, since this would be a hidden transition state. The safety system is functional from the very beginning of the development of a new robot control system. This ensures that no dangerous condition can arise even when a system is set up. | Each level reads the states from all safety-critical inputs and defines the states of all safety-critical outputs. There are no actions allowed during a transition between two safety levels, since this would be a hidden transition state. The safety system is functional from the very beginning of the development of a new robot control system. This ensures that no dangerous condition can arise even when a system is set up. | ||
- | Learn more about the safety system | + | [[: |
==== Sequencer ==== | ==== Sequencer ==== | ||
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The robot' | The robot' | ||
- | Learn more about the sequencer | + | [[: |
==== Hardware Abstraction Layer (HAL)==== | ==== Hardware Abstraction Layer (HAL)==== |
getting_started/overview.txt · Last modified: 2021/04/01 14:04 by jonasfrei