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--- getting_started:tutorials:oneaxis_cb20 [2019/10/12 19:29] – created graf
+++ getting_started:tutorials:oneaxis_cb20 [2019/10/15 13:15] (current) – [Emergency Signal] graf
@@ Line 1: / Line 1: @@
-====== Headline ======
+====== Experimental Setup with a cb20 Board ======
+Use our [[http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board|cb20 Board]]. A maxon motor controller on a [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/db|db11 Board]] delivers the necessary power. Connect all the necessary signals according to the table in [[https://wiki.ntb.ch/infoportal/embedded_systems/imx6/db|db11 Board]].
-  * 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:hal:hardware_libraries#comedi|]]. In any case you have to install ''comedi'' separately.
+===== Analog Output and Enable =====
-{{ oneAxis_setup.png?688 |}}
+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 [[getting_started:deploy:deploy_cb20|]].
-  * A [[https://wiki.ntb.ch/infoportal/embedded_systems/ti_sitara_am335x/beaglebone_blue/start|Beaglebone Blue]] board together with the appropriate EEROS hardware wrapper, see [[eeros_architecture:hal:hardware_libraries#beaglebone_blue|Hardware Wrapper Libraries]]. Please follow the instructions in [[https://wiki.ntb.ch/infoportal/software/linux/beagleboneblue]] to install the necessary toolchain before you install EEROS.
+<code>
-  * Our cb20 controller board ([[http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board|]] together with [[http://www.flink-project.ch|]] and the appropriate EEROS hardware wrapper, see [[eeros_architecture:hal:hardware_libraries#flink|]].
+$ sudo ./flinkdio -s5 -c0 -wh
+$ sudo ./flinkanalogoutput -s2 -c0 -o34000
+</code>
-Connect all the necessary signals according to your hardware configuration file, notably
-  * analog output and enable signal to the motor controller
-  * encoder outputs (A/B signals) to the decoder inputs
-  * motor controller ready signal to a digital input
-  * emergency button to a digital input
-IMPORTANT Make sure that a positive voltage on the motor leads to the encoder counting upwards. If the opposite is the case, either change the cables or change the hardware configuration file. \\
+===== Encoder Inputs =====
-IMPORTANT On the beaglebone blue board, you don't need a motor controller. Hence, you do not need the enable signal. Tie the ready signal to logic one.
+Check if the encoder is properly connected with:
+<code>
+$ sudo ./flinkcounter -s1 -c0 -n20
+</code>
+Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.
+===== Ready Signal =====
+The ready signal signals to the controller that the motor controller has powered up. .
+===== Emergency Signal =====
+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.