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--- getting_started:tutorials:oneaxis_cb20 [2019/10/14 19:51] – graf
+++ getting_started:tutorials:oneaxis_cb20 [2026/05/28 14:21] (current) – [Run Application] ursgraf
@@ Line 1: / Line 1: @@
 ====== Experimental Setup with a cb20 Board ======
-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|]].
-Connect all the necessary signals according to your hardware configuration file, notably
+Back to [[oneaxis|]]
-  * 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. \\
+Use our [[https://wiki.ost.ch/spaces/EDS/pages/408682789/Controller+Board+with+Colibri+Module|cb20 Board]]. A maxon motor controller on a [[https://wiki.ost.ch/spaces/EDS/pages/408682793/Drive+Board+db11|db11 Board]] delivers the necessary power. Connect all the necessary signals according to the table in [[https://wiki.ost.ch/spaces/EDS/pages/408682793/Drive+Board+db11|db11 Board]].
-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.
+===== Testing the Hardware =====
+==== 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 are included in our image.
+<code>
+$ sudo ./flinkdio -s5 -c0 -wh
+$ sudo ./flinkanalogoutput -s2 -c0 -o34000
+</code>
+==== Encoder Inputs ====
+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.
+=====Run Application=====
+Start the application by choosing the appropriate configuration file:
+<code>
+$ sudo ./simpleMotorControl -c HwConfigFlinkCB20.json
+</code>