realtime_control_environment_setup
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realtime_control_environment_setup [24.07.2019 18:05] – [EtherCAT slave configuration] Guoping Zhao | realtime_control_environment_setup [27.11.2022 22:58] (aktuell) – Externe Bearbeitung 127.0.0.1 | ||
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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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==== EtherCAT slave configuration ==== | ==== EtherCAT slave configuration ==== | ||
+ | This part is well documented by Mathworks. Please find the detailed info [[https:// | ||
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+ | ===== Run Simulink in Realtime ===== | ||
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+ | 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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+ | {{: | ||
- | * Connect EtherCAT slaves | + | In addition, the solver of the simulink model has to be configured as " |
- | * Open ET9000 software. | + | |
- | ===== Run the Simulink in Realtime ===== | + | {{: |
+ | And the " | ||
+ | {{: | ||
- | !simulinkmodelconfig1.png! | ||
- | !simulinkmodelconfig2.png! | ||
- | !ethercatinitblock.png! | ||
realtime_control_environment_setup.1563984315.txt.gz · Zuletzt geändert: 27.11.2022 22:54 (Externe Bearbeitung)