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--- getting_started:tutorials:oneaxis_cb20 [2019/10/14 19:54] – [Experimental Setup with a cb20 Board] 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 ======
-Use our [[http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board|cb20 Board]]. Connect all the necessary signals according to your hardware configuration file.
-===== Analog Output =====
+Back to [[oneaxis|]]
-There are 4 connectors denoted with //DC Motors//. Connect number 1 with the motor. Before testing plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. ssh into the Beaglebone blue board and run
+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]].
+===== 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>
-debian@beaglebone:$ rc_test_motors -m 1 -d 1
+$ sudo ./flinkdio -s5 -c0 -wh
+$ sudo ./flinkanalogoutput -s2 -c0 -o34000
 </code>
-//-m 1// selects the first motor while //-d 1// specifies a duty cycle of 1. The motor should run in positive direction. If the motor turns in the opposite direction, change the + and - wire of the motor. You can stop the program by pressing ''Ctrl-C''. The test program is located in ///usr/bin// and can be run from anywhere.
-===== Enable Signal =====
+==== Encoder Inputs ====
-On the Beaglebone blue we do not use a motor controller and therefore, we do not use this signal. However, we put the signal onto the green led on the board.
+Check if the encoder is properly connected with:
-===== Encoder Inputs =====
-There are 4 connectors denoted with //4 Quadrature encoder inputs//. Connect number 1 with your encoder. Make sure that your encoder works with 3.3V as delivered by this connector. Test the encoder with
 <code>
-debian@beaglebone:$ rc_test_encoders
+$ 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 =====
+==== Ready Signal ====
-The ready signal signals to the controller that the motor controller has powered up. As there is no external motor controller on the Beaglebone blue we simply put this signal on a digital input pin which is connected to the on board push button //Mode//.
+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>
-===== Emergency Signal =====
-The emergency signal is used to bring the application in a safe mode. We put this input signal on a digital input pin which is connected to the on board push button //Pause//. Later when the application runs we can cause the safety system to switch to an emergency state by pressing the //Pause// button.