Experimental Setup with a cb20 Board
Analog Output and Enable
You can test the analog output together with the motor controller by applying a positive set voltage. Further, you have to enable the motor. The necessary flink test programs will be automatically transfered when deploying the application as described in Deploy to cb20 Board.
$ sudo ./flinkdio -s5 -c0 -wh $ sudo ./flinkanalogoutput -s2 -c0 -o34000
Check if the encoder is properly connected with:
$ sudo ./flinkcounter -s1 -c0 -n20
Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.
The ready signal signals to the controller that the motor controller has powered up. .
The emergency signal is used to bring the application in a safe mode. We connect this input signal (channel 0 on connector P12 to an external push button. As soon as a logic one is detected on this digital input the safety system is caused to switch to an emergency state.