build_your_own
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build_your_own [2019/04/25 15:30] – [Start the EEDURO application] graf | build_your_own [2019/04/25 15:32] – [Run the application on startup] graf | ||
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- | ===== Playing with the Delta robot ===== | ||
- | After starting the EEDURO application of the Delta robot you'll get the following procedure: | ||
- | - all motors move to the uppermost position | ||
- | - short delay | ||
- | - axis motors move to the homing position | ||
- | - motor of the electromagnet gets homed -> electromagnet should be centered | ||
- | The intialization process is now finished and the green and blue LED light up. If you press the green button, the Delta starts it's normal operating mode. If you press the blue button 3 times, the robot will move to it's parking position and power down. When pressing the green and blue button, the calibration mode gets started.\\ | ||
- | \\ | ||
- | In normal operating mode you can get control of the Delta robot. When sorting is finished, it will move the to home position and wait for 5 seconds. In this time you can move the mouse or press any mouse button to control it. By moving the mouse left/right or for-/ | ||
- | \\ | ||
- | Press the blue button to stop the Delta robot from it's normal operating mode. This will stop the current movement, raise the TCP and put it back to it's homing position. From there you can move on with the steps described two sections above.\\ | ||
- | \\ | ||
- | In case of an emergency the red LED lights up. This happens when you push the red button. In this case you have to press the green button to move on. The Delta will perform it's homing and stays in it's homing position. | ||
- | \\ | ||
- | ===== Calibrate the Delta robot ===== | ||
- | If you need to calibrate the positions of the blocks for the Delta robot follow this steps: | ||
- | - The Delta robot has to be powered up and running | ||
- | - If the Delta is not in it's homing position: | ||
- | - Press the blue button to stop the normal operating mode | ||
- | - Else: | ||
- | - Press the green and blue button | ||
- | - Remove all plates | ||
- | You have to calibrate the Delta with each plate. Start with plate 0 -> that means no plate is used, and position 0. | ||
- | - Put the actual plate to the actual position and move the TCP to the center of this position. | ||
- | - Hit the blue button. | ||
- | - Move the TCP inside the gap of the current block only in x and y direction. | ||
- | - Hit the blue button again. | ||
- | - If the actual position is number 3 go to the next step. Else increment the position number and start again with step 1. | ||
- | - If the actual plate is number 3 you are finished. Else use the plate with the next higher number and start again with step 1. | ||
- | |||
- | If you have calibrated all blocks on every position, put all blocks back and press the blue button. The Delta will move to it's homing position. | ||
- | |||
- | ===== Run the application on startup ===== | ||
- | To run Delta application on startup just copy the // | ||
- | < | ||
- | scp ./ | ||
- | </ | ||
- | and make sure that it's executable: | ||
- | < | ||
- | debian@beaglebone: | ||
- | </ | ||
- | In the '' | ||
- | < | ||
- | sudo screen -dmS delta / | ||
- | </ | ||
- | This script will start the Delta application in a detached screen. To see the log output from the application just reattach to this screen session. | ||
- | < | ||
- | debian@beaglebone: | ||
- | </ | ||
- | If the Delta application terminates the BeagleBoneBlue will shutdown. |