getting_started:tutorials:oneaxis
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getting_started:tutorials:oneaxis [2019/10/12 19:27] – [Experimental Setup] graf | getting_started:tutorials:oneaxis [2023/04/12 14:55] – [Build Application] ursgraf | ||
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====== 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:// |
- | + | ||
- | Navigate to the directory '' | + | |
=====Theoretical Background===== | =====Theoretical Background===== | ||
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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** | ||
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We use three different platforms for running the Simple Motor Controller. | We use three different platforms for running the Simple Motor Controller. | ||
- | * [[oneaxis_comedi]] | + | * [[oneaxis_comedi|]] |
- | * [[oneaxis_bbb|]] | + | * [[oneaxis_bbb|]] |
+ | * [[oneaxis_cb20|]] | ||
=====Build Application===== | =====Build Application===== | ||
- | - Install EEROS and necessary hardware libraries as described in [[getting_started: | + | - Proceed with [[getting_started: |
- | - Build [[getting_started: | + | - After cloning |
+ | - [[getting_started:deploy|]] to the target system if necessary. | ||
=====Test Application===== | =====Test Application===== | ||
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$ 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