realtime_control_environment_setup
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realtime_control_environment_setup [24.07.2019 20:19] – [Run the Simulink in Realtime] Guoping Zhao | realtime_control_environment_setup [24.07.2019 22:29] – Guoping Zhao | ||
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====== Realtime control environment setup ====== | ====== Realtime control environment setup ====== | ||
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+ | **Author**: Guoping Zhao, Lauflabor (www.lauflabor.de), | ||
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+ | **Date**: July, 2019 | ||
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+ | ---- | ||
There are lots of different ways to set up a realtime control environment for a robotic system. Here, we choose **Matlab simulink realtime toolbox** (xPC) as the software framework because: | There are lots of different ways to set up a realtime control environment for a robotic system. Here, we choose **Matlab simulink realtime toolbox** (xPC) as the software framework because: | ||
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===== Run Simulink in Realtime ===== | ===== Run Simulink in Realtime ===== | ||
+ | In order to run the simulink in realtime (on the target machine) with EtherCAT, the EtherCAT Init block is needed. The configure file, PCI bus number, and the PCI slot number has to be configured correctly according to the setup. | ||
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+ | {{: | ||
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+ | In addition, the solver of the simulink model has to be configured as " | ||
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+ | {{: | ||
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+ | And the " | ||
+ | {{: | ||
- | !simulinkmodelconfig1.png! | ||
- | !simulinkmodelconfig2.png! | ||
- | !ethercatinitblock.png! | ||
realtime_control_environment_setup.txt · Zuletzt geändert: 27.11.2022 22:58 von 127.0.0.1