getting_started:tutorials:oneaxis
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Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
getting_started:tutorials:oneaxis [2019/10/14 16:10] – [Build Application] graf | getting_started:tutorials:oneaxis [2021/03/02 10:55] – [Safety System] ursgraf | ||
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D is the damping factor and we choose it as 0.9. | D is the damping factor and we choose it as 0.9. | ||
- | |||
- | |||
=====Experimental Setup===== | =====Experimental Setup===== | ||
- | A maxon motor controller (50V / 5A) delivers the necessary power. | + | The motor we use has the following properties: |
| **Properties** | | **Properties** | ||
Line 28: | Line 26: | ||
* [[oneaxis_bbb|]] | * [[oneaxis_bbb|]] | ||
* [[oneaxis_cb20|]] | * [[oneaxis_cb20|]] | ||
+ | |||
=====Build Application===== | =====Build Application===== | ||
- | - Download | + | - Download EEROS, hardware |
- | < | + | |
use_custom_application=true | use_custom_application=true | ||
</ | </ | ||
- | + | - After cloning with the clone script, navigate to the directory '' | |
- | After cloning with the clone script, navigate to the directory '' | + | - [[getting_started: |
- | + | - [[getting_started:deploy|]] to the target system if necessary. | |
- | - Build [[getting_started: | + | |
=====Test Application===== | =====Test Application===== | ||
Line 50: | Line 47: | ||
$ sudo ./ | $ sudo ./ | ||
</ | </ | ||
+ | The application logs the motor position once per second. By activating the emergency button, the safety system will immediately switch to an emergency state. Deactivating this button causes the system to switch back to running mode. | ||
+ | |||
+ | ===== Develop your own Application Further ===== | ||
+ | For further development we recommend to use an integrated development environment as described in [[getting_started: | ||
+ | |||
=====Implementation===== | =====Implementation===== | ||
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==== Safety System ==== | ==== Safety System ==== | ||
Safety levels and events are declared in '' | Safety levels and events are declared in '' | ||
- | [{{ : | + | [{{ : |
Two critical inputs are defined: " | Two critical inputs are defined: " |
getting_started/tutorials/oneaxis.txt · Last modified: 2023/04/13 11:29 by ursgraf