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

For more informations how Sequences and the Sequencer work, have a look into Sequencer on the eeros wiki. When the homing of the Delta robot is completed the “Main Sequence” gets started. In this sequence, other sequences get added, dependent on the current Safety Level. The first activated Safety Level is “slAutoMoving”. So the “Main Sequence” starts the “Sort Sequence” and waits until its finished, after that, the “Shuffle Sequence” gets started, and once again, the “Main Sequence” waits until this is finished. After that, the “Main Sequence” gets restarted, and if no Safety Event got triggered, the “Sort Sequence” and the “Shuffle Sequence” gets started again.
The “Sort Sequence” and the “Shuffle Sequence” are equipped with a Monitor. This Monitor checks the “Move Mouse Condition”. If the mouse gets moved, or a button on the mouse gets pressed, the Condition returns “true”, the current running sequence gets aborted and the “Move Mouse Exception Sequece” gets started. This sequence moves the TCP back to init position, and triggers the Safety Event “doMouseTeaching”. The “Main Sequence” now starts the “Mouse Sequence”. As long as the mouse gets moved, or buttons are pressed, the “Mouse Sequence” will be active. This sequence is equipped with a “Time Out Monitor”. If the mouse doesn't send any event for 2 seconds, this Monitor triggers the “MouseSequenceTimeOutExpectionSequence”. This “Exception Sequence” aborts the “Mouse Sequence”, moves the TCP back to the init position and triggers the Safety Event “doAutoMoving”.

The “Calibration Sequence” can be started by triggering the Safety Event “doCalibrating”. This can be done by pressing the red button until this lights up. Press and hold the red button for 2 seconds, this will trigger the Safety Event “doCalibrating”. When finished with calibrating, press the red button once again. Press the green button to get back in normal operation mode.