getting_started:practical_problems:start
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getting_started:practical_problems:start [2017/09/24 16:25] – [Trigger Safety Event from Control System] graf | getting_started:practical_problems:start [2017/09/24 16:48] – [How to interact between Sequencer and Control System] graf | ||
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===== Do's ===== | ===== Do's ===== | ||
+ | * [[.: | ||
+ | * [[.: | ||
+ | * [[.: | ||
===== Don'ts ===== | ===== Don'ts ===== | ||
+ | * [[.: | ||
+ | * [[.: | ||
===== Stumbling Blocks ===== | ===== Stumbling Blocks ===== | ||
+ | * [[.: | ||
+ | * [[.: | ||
- | ====== Trigger Safety Event from Control System ====== | ||
- | It is not advisable to use the safety system to check signals of the control system. This causes unnecessary confusion and blows up the safety system. Rather insert a [[eeros_architecture: | ||
- | ===== Avoid Hidden States in the Safety System ===== | ||
- | It might be tempting to define elaborate actions in a certain safety level. However, in order to keep the safety system clean and simple avoid such practises. Do not define different states in a safety level. If you need to stay a certain amount of time in a safety level use the field '' | ||
- | ===== Handle Faults in the Control System ===== | ||
- | input not connected, forget to connect | ||
- | nan | ||
- | initial signals = nan, forget to addBlock | ||
- | remove block | ||
- | ===== Remove Blocks when no longer used ===== | ||
- | Blocks have to be added to a time domain and will then be run by this. If you have blocks which are used only for a certain task such as initialization, | ||
- | ===== Switch Block Switches Automatically ===== | ||
- | There are cases were a switch block has to switch to a certain input under given conditions. While it might be possible to use the safety system to check this condition it might be preferable if the switch block itself switches when a certain condition is met. To use the sequencer for this purpose is generally not advisable as realtime cannot be met there. \\ | ||
- | For further information refer to [[eeros_architecture: | ||
===== Block with Parameters ===== | ===== Block with Parameters ===== | ||
Situation: inner states of blocks can be changed only through signals or getter / setter methods. How to implement a slowly changing inertia matrix? You do not want to calculate this matrix out of regular signals with full speed. Solution: use slow time domain for this purpose and change ... | Situation: inner states of blocks can be changed only through signals or getter / setter methods. How to implement a slowly changing inertia matrix? You do not want to calculate this matrix out of regular signals with full speed. Solution: use slow time domain for this purpose and change ... | ||
- | ===== How to Stop a System with CTRL-C ===== | + | [[.:abort]] |
- | + | ||
- | ===== How to interact between Sequencer and Control System ===== | + | |
- | Seq soll signale in CS setzen (const) oder lesen \\ | + | |
- | ===== Comparisons of Safety Level do not Work ===== | ||
- | addLevel forgotten \\ |
getting_started/practical_problems/start.txt · Last modified: 2018/04/17 14:54 by graf