Use our cb20 Board. A maxon motor controller on a db11 Board delivers the necessary power. Connect all the necessary signals according to the table in db11 Board.

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. 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 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.