build_your_own
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build_your_own [2019/04/25 15:31] – [Playing with the Delta robot] graf | build_your_own [2019/04/25 15:32] – [Run the application on startup] graf | ||
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- | ===== 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. |