https://hw.eeros.org/eeduro/ 2026-05-08T15:27:24+00:00 https://hw.eeros.org/eeduro/ https://hw.eeros.org/eeduro/_media/logo.png text/html 2020-02-27T16:50:52+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/bbblue?rev=1582822252&do=diff Beaglebone Blue The Beagle Bone Blue can be operated with the 12V DC Power supply, 7.4V DC from a battery or with the 5V from the USB. Please note that you can’t run the motors when only powered over USB, so you have to connect an 7.4V battery or the 12V Power supply. text/html 2023-05-31T14:37:07+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/build?rev=1685543827&do=diff Build the Software The application is developed on a Linux host machine and can then be deployed to the board. The software itself can be studied on <https://github.com/eeduro/delta>. Preparations Install our Linux image on the target and install the necessary SDK and tools on the host as described in text/html 2020-02-27T16:53:36+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/components?rev=1582822416&do=diff Hardware Components Part list This list shows all the necessary hardware components you have to buy. PosNamePcsDescriptionLink0Beagle Bone Blue1Beagle Bone Blue Rev A.0<https://beagleboard.org/blue>1Cable Set1Cable set for Beagle Bone Blue<https://www.conrad.ch/de/beagleboard-kabel-bb-blue-kabelset-1606596.html>2Axis Motors3Faulhaber 1524-012SR<https://www.faulhaber.com/de/produkte/serie/1524sr/>3Encoder for Axis Motor text/html 2026-04-24T09:22:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/connect?rev=1777022547&do=diff Connect to the Target Start your Beagle Bone Blue * Connect the micro USB with the PC. * It takes about 15 seconds until the Beagle Bone Blue is powered up and another 15 seconds until a network adapter is shown on your host pc. Open a Terminal and check if this network is already available. text/html 2020-02-27T16:58:10+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/connections?rev=1582822690&do=diff Electrical Connections System Overview This overview shows the whole system together with all necessary modules. LEDs and Buttons The robot is equipped with three buttons with leds. The buttons can be used to trigger actions. The leds are used to indicate operating states. The next picture shows the pin connections. text/html 2023-05-11T15:13:13+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/control_system?rev=1683817993&do=diff Control System The coordinate system is as follows Orientation of the axis In z direction, positive values move the TCP upwards. The figure below shows the complete control system for our delta roboter. [//Control System of the Delta Roboter//] Inputs Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as text/html 2021-10-20T07:43:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/deploy?rev=1634715806&do=diff Deploy to the Target Finally, load the executable onto the target with $ ./deploy.sh The default password on the BeagleBone Blue Board is “ost”. Edit the deploy.txt file to define which files should be downloaded. Handle Read-only File System text/html 2022-03-04T10:33:42+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/dev?rev=1646390022&do=diff Write Your Own Application In order to alter and extends the original software controlling the delta robot follow the steps given in Use KDevelop with Existing Build Configuration. After making your adaptions and successfully building it you continue with deploying it to the hardware. As soon as you want to write your own application code and run it on the hardware you have to stop the original autostart application. However, after stopping the system will power down and you will loose your … text/html 2021-06-11T13:59:00+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/hal?rev=1623419940&do=diff Hardware Abstraction Layer EEROS for the Beaglebone blue is using the robotis_cape_library. You'll find the wrapper and its functions in the bbblue-eeros folder. To learn more about the hardware abstraction layer read HAL Configure the Outputs for the Motors If you want to run a motor with EEROS you need to define a text/html 2019-02-05T14:49:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/hardwar-eadaptations?rev=1549378170&do=diff Adaptations - Encoder Level Shifters - Magnet Relays - Buttons and LEDs Encoder Level Shifters text/html 2021-06-11T14:19:16+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/motors_init?rev=1623421156&do=diff Initialization - Zero reference During homing the robot has to set his zero position. Zero position is choosen as the point where all three arms of the robot are in horizontal position. Mechanical Limits of the Axis Motors - Upper limit [Upper limit calculation detail]Upper limit calculation shown below text/html 2019-07-19T06:24:52+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/old_electrical_conn?rev=1563517492&do=diff Electrical Connections - NTB version System Overview LEDs and buttons * Button -> 3.3V * LED + * LED - * Button -> R, GND Motors and encoders * Motor - * Motor + * GND * Udd (5V) * Channel B * Channel A Magnet * GND text/html 2019-07-18T11:34:07+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/old_electrical_hw?rev=1563449647&do=diff Electrical hardware - NTB Version Part list PosNamePcsDescriptionLink0Beagle Bone Blue1Beagle Bone Blue Rev A.0<https://beagleboard.org/blue>1Cable Set1Cable set for Beagle Bone Blue<https://www.conrad.ch/de/beagleboard-kabel-bb-blue-kabelset-1606596.html>2Axis Motors3Faulhaber 1524-012SR<https://www.faulhaber.com/de/produkte/serie/1524sr/>3Encoder for Axis Motor3Faulhaber IEH2-4096<https://www.faulhaber.com/de/produkte/serie/ieh2-4096/>4Gear for Axis Motor3 text/html 2019-07-18T11:11:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/old_old?rev=1563448304&do=diff Hardware The hardware part of the Delta robot is not completed yet. There will probably be a pcb added in the near future so that there is no need for this tutorial. Power Supply The Beagle Bone Blue can be operated with the 12V DC Power supply, 7.4V DC from a battery or with the 5V from the USB. You can’t run the motors when only powered over USB, so you have to connect an 7.4V battery or the 12V Power supply. You also need 12V on the adapterprint for the electromagnet (see gpios). text/html 2019-07-19T09:40:55+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/pictures?rev=1563529255&do=diff Pictures text/html 2021-10-22T07:57:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/run?rev=1634889452&do=diff Running the Delta Application Next, ssh into the target. Before you start the delta application you have to make sure that your mouse works with ost@bblue:$ sudo cat /dev/input/event1 Start your application in a second terminal while the above command is still running text/html 2021-03-31T16:15:11+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/safety_system?rev=1617207311&do=diff Safety System To get more informations and details about how the Safety System works, refer to the Safety System described in the EEROS Wiki. Various safety events allow to switch between the safety levels. They are triggered by the safety system itself or by the sequencer. The table shows the levels, events and the possible switches between levels in the specific application implemented for the delta robot. text/html 2020-03-04T09:23:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/sequencer?rev=1583313828&do=diff Sequencer and Sequences For more informations how sequences and the sequencer work, have a look at<http://wiki.eeros.org/eeros_architecture/sequencer/start> in the eeros wiki. An overview of all sequences is show below. [Sequences of the Delta roboter] Main Sequence The main sequence starts shortly after the executor started running. It is responsible to initialize the robot by stepping through the safety levels up to text/html 2019-02-28T15:18:54+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/software?rev=1551367134&do=diff Software Like any EEROS application our application to control the delta roboter is comprised of a control system, a safety system, and a sequencer running a given sequence. To get familiar with EEROS and its structure read EEROS Architecture. * Hardware Abstraction Layer * Control System * Safety System * Sequencer and Sequences * text/html 2021-05-04T14:00:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/start?rev=1620136827&do=diff EEDURO Delta Robot [Test] EEDURO is an open robotics platform for use with the EEROS software framework. The goal is to develop a family of different, small sized low cost robots. Currently the EEDURO Delta robot is ready for factoring. There is also work going on a mobile robot with a Stanford drive. text/html 2026-04-24T10:04:23+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/test?rev=1777025063&do=diff Test the Hardware Motors Before testing your assembled electronics plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. We will now test each component individually. ssh into the BeagleBone blue board and run ost@bblue:$ sudo rc_test_motors -m 1 -d 1 text/html 2021-05-04T13:51:08+00:00 Anonymous (anonymous@undisclosed.example.com) https://hw.eeros.org/eeduro/user_interface?rev=1620136268&do=diff Program Execution and User Interface Starting the application on the Delta robot will do a homing first, see Homing. After homing the Delta is in system ready mode which is indicated by the green and blue LED. If you press the green button, the Delta starts its