getting_started:tutorials:oneaxis
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
getting_started:tutorials:oneaxis [2019/04/25 14:19] – [Part 3: Test Application] graf | getting_started:tutorials:oneaxis [2019/10/14 16:18] – [Build Application] graf | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== Control a Single Motor ====== | ====== Control a Single Motor ====== | ||
- | This tutorial will show you how to control a single motor using EEROS. This example is located in a separate repository [[https:// | + | This tutorial will show you how to control a single motor using EEROS. This example is located in a separate repository [[https:// |
+ | =====Theoretical Background===== | ||
- | Navigate to the directory '' | + | A motor position is measured by an encoder. After differentiating this signal we obtain the velocity. The input of the velocity controller is the difference between reference and measured velocity. Additionally, |
- | + | ||
- | =====Part 1: Theoretical Background===== | + | |
- | + | ||
- | The motors | + | |
[{{ oneAxis_controlLoop.jpg? | [{{ oneAxis_controlLoop.jpg? | ||
Line 17: | Line 14: | ||
D is the damping factor and we choose it as 0.9. | D is the damping factor and we choose it as 0.9. | ||
- | The input of the velocity controller is the difference between reference and measured velocity. Additionally, | + | =====Experimental Setup===== |
- | + | A maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties: | |
- | =====Part 2: Experimental Setup===== | + | |
- | As a processing platform 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 [[eeros_architecture: | + | |
- | {{ oneAxis_setup.png? | + | |
- | As an alternative we use our cb20 controller board ([[http:// | + | |
- | For both alternatives a maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties: | + | |
| **Properties** | | **Properties** | ||
Line 30: | Line 22: | ||
^ Encoder Pulses | ^ Encoder Pulses | ||
- | =====Part 3: Test Application===== | + | We use three different platforms for running the Simple Motor Controller. |
- | If have have installed and built EEROS as described in [[getting_started: | + | |
+ | * [[oneaxis_bbb|]] | ||
+ | * [[oneaxis_cb20|]] | ||
- | You will find two different hardware configuration files. | + | =====Build Application===== |
- | * HalComedi.json | + | |
- | * HalFlink.json | + | - Download EEROS, hardware wrapper libraries, and simple motor application described in [[getting_started: |
+ | use_custom_application=true | ||
+ | </ | ||
+ | - After cloning with the clone script, navigate to the directory '' | ||
+ | - [[getting_started: | ||
+ | - [[getting_started: | ||
+ | |||
+ | =====Test Application===== | ||
+ | |||
+ | You will find different hardware configuration files depending on the hardware platform. | ||
+ | * HwConfigComedi.json | ||
+ | * HwConfigFlink.json | ||
+ | * HwConfigBBB.json | ||
Start our application by choosing the appropriate configuration file, e.g.: | Start our application by choosing the appropriate configuration file, e.g.: | ||
< | < | ||
- | $ ./ | + | $ sudo ./ |
</ | </ | ||
- | =====Part 4: Implementation===== | + | =====Implementation===== |
==== Control System ==== | ==== Control System ==== | ||
The control system declares in '' | The control system declares in '' | ||
Line 53: | Line 59: | ||
==== Sequencer ==== | ==== Sequencer ==== | ||
- | The sequencer runs a sequence which turns the motor several steps forward. After 20 seconds it will position the motor back to some base position and restart the process. | + | The sequencer runs a sequence which turns the motor each second a tenth of a full turn. |
getting_started/tutorials/oneaxis.txt · Last modified: 2023/04/13 11:29 by ursgraf