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| sequencer [2019/11/30 21:24] – [Homing] graf | sequencer [2020/03/04 10:23] (current) – [Parking Sequence] ursgraf |
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| The homing of the Delta robot is done in the ''Homing Sequence''. The three axis are raised by driving the three motors upwards with constant speed until the end stop. At this point the encoders are set to their initial position. The angle of this initial position can be determined from the mechanical constraints, see [[motors_init|]]. From there the tool center point is moved to position //ready//. As soon as ''Homing Sequence'' finishes a safety event is triggered, which causes the safety system to change to ''slHomed'' level. | The homing of the Delta robot is done in the ''Homing Sequence''. The three axis are raised by driving the three motors upwards with constant speed until the end stop. At this point the encoders are set to their initial position. The angle of this initial position can be determined from the mechanical constraints, see [[motors_init|]]. From there the tool center point is moved to position //ready//. As soon as ''Homing Sequence'' finishes a safety event is triggered, which causes the safety system to change to ''slHomed'' level. |
| ===== Auto Moving Sequence===== | ===== Circle Sequence===== |
| As soon as the safety system reaches the level ''slAutoMoving'' it will start the ''AutoMoveSequence''. This activates the circle planner on the Control System and the robot will perform a circular movement. | As soon as the safety system reaches the level ''slAutoMoving'' it will start the ''CircleSequence''. First the TCP is moved to a start position on the circle. Then the circle planner in the Control System is activated and the robot will perform a circular movement. The ''CircleSequence'' repetitively runs step ''Wait''. \\ |
| The step ''Wait'' in the ''AutoMoveSequence'' is equipped with a monitor. This monitor checks if the mouse is moved, or a mouse button is pressed. As soon as this condition is met, the current running sequence is aborted and the ''MoveMouseExceptionSequece'' gets started. This sequence moves the TCP back to the initial position, and triggers the safety event "doMouseControl". This causes the safety system to change to ''slMouseControl'' level. | The ''CircleSequence'' is equipped with two monitors. |
| | * Mouse Monitor: This monitor checks if the mouse is moved. As soon as this condition is met, the current sequence is aborted and the ''MoveMouseExceptionSequence'' gets started. This sequence triggers the safety event "doMouseControl". This causes the safety system to change to ''slMouseControl'' level. |
| Another monitor supervises the whole ''AutoMoveSequence''. The ''BlueButtonMonitor'' permanently checks if the blue button is pressed. Its associated exception sequence stops the ''AutoMoveSequence'', moves the TCP to its initial position and triggers a ''setStopMove'' event. | * BlueButton Monitor: Another monitor permanently checks if the blue button is pressed. Its associated exception sequence stops the current sequence, moves the TCP to its initial position and triggers a ''stopMoving'' event. The safety system will return to ''slSystemReady''. |
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| ===== Mouse Sequence ===== | ===== Mouse Sequence ===== |
| The ''MainSequence'' starts the ''MouseSequence'' as soon as the safety system jumps into level ''slMouseControl''. As long as the mouse gets moved, or buttons are pressed, the ''MouseSequence'' will be active and the TCP will duly follow the position given by the mouse. Pressing the left or right button will trun on the magnet in the TCP. This sequence is equipped with a ''MouseSequenceTimeOutMonitor''. If the mouse doesn't send any event for 2 seconds, this monitor starts the ''TimeOutExpectionSequence''. This exception sequence aborts the ''MouseSequence'' and causes the safety system to fall back to level ''slAutoMoving''. | The ''MainSequence'' starts the ''MouseSequence'' as soon as the safety system jumps into level ''slMouseControl''. As long as the mouse gets moved, the ''MouseSequence'' will be active and the TCP will duly follow the position given by the mouse. This sequence is equipped with two monitors. |
| | * Timeout Monitor: If the mouse doesn't send any event for 2 seconds, this monitor starts the ''MouseTimeoutExpectionSequence''. This exception sequence aborts the ''MouseSequence'' and causes the safety system to fall back to level ''slAutoMoving'', which in turns restarts ''CircleSequence''. |
| | * BlueButton Monitor: Another monitor permanently checks if the blue button is pressed. Its associated exception sequence stops the current sequence, moves the TCP to its initial position and triggers a ''stopMoving'' event. The safety system will return to ''slSystemReady''. |
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| | ===== Parking Sequence ===== |
| | The ''MainSequence'' starts the ''ParkingSequence'' as soon as the safety system jumps into level ''slParking''. The TCP moves to a park position before the driving signals to the motors are set to zero. Finally a ''parkingDone'' event is triggered. |
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| | ===== Abort Monitor and Condition ===== |
| | For a system under development it is advantageous to be able to stop the running application by pressing ''CTRL-C''. For this purpose every sequence and step is equipped with an abort monitor together with an abort condition, see [[https://wiki.eeros.org/eeros_architecture/sequencer/monitors]] |
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| Here again, as well as in the ''AutoMoveSequence'', the ''BlueButtonMonitor'' allows to interrupt by pressing the blue stop button. | |
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